116
Total objective tests
33
Objectives passed
0
Objectives failed
83
Objectives skipped
9.8s
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 | 161 warnings · 19326 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 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-12 16:22:34.481] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-12 16:22:34.481] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131619 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131619 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067009 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067009 ms (missed cycles : 4).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703948 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703948 ms (missed cycles : 2).[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580391 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580391 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786551758.08677745 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 + 3.75sINFOros2_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 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551758.68700647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.53sINFOros2_control_node[2026-08-12 16:22:38.890] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-12 16:22:38.890] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038350 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038350 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157484 ms (missed cycles : 6). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157484 ms (missed cycles : 6).[0m ×2 + 5.81sINFOobjective_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 + 5.82sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722184 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722184 ms (missed cycles : 2).[0m ×2 + 8.00sINFOjoint_trajectory_controllerReceived new action goal ×3179 + 8.00sINFOjoint_trajectory_controllerAccepted new action goal ×3179 + 8.00sINFOros2_control_nodeReceived new action goal[0m ×6358 + 8.00sINFOros2_control_nodeAccepted new action goal[0m ×6358 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706800 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706800 ms (missed cycles : 2).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083202 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083202 ms (missed cycles : 3).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831091 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831091 ms (missed cycles : 2).[0m ×2 + 11.49sWARNros2_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 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133607 ms (missed cycles : 5). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133607 ms (missed cycles : 5).[0m ×2 + 12.87sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.88sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.88sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929699 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929699 ms (missed cycles : 2).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416930 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416930 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818651 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818651 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500824 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500824 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676753 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676753 ms (missed cycles : 2).[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671351 ms (missed cycles : 2). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671351 ms (missed cycles : 2).[0m ×2 + 18.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×4 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780629 ms (missed cycles : 7). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780629 ms (missed cycles : 7).[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215070 ms (missed cycles : 2). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215070 ms (missed cycles : 2).[0m ×2 + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771165 ms (missed cycles : 2). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771165 ms (missed cycles : 2).[0m ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254506 ms (missed cycles : 4). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254506 ms (missed cycles : 4).[0m ×2 + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151160 ms (missed cycles : 2). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151160 ms (missed cycles : 2).[0m ×2 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842921 ms (missed cycles : 2). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842921 ms (missed cycles : 2).[0m ×2 + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890913 ms (missed cycles : 2). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890913 ms (missed cycles : 2).[0m ×2 + 26.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304445 ms (missed cycles : 2). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304445 ms (missed cycles : 2).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840255 ms (missed cycles : 2). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840255 ms (missed cycles : 2).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799275 ms (missed cycles : 2). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799275 ms (missed cycles : 2).[0m ×2 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697936 ms (missed cycles : 2). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697936 ms (missed cycles : 2).[0m ×2 + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667175 ms (missed cycles : 2). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667175 ms (missed cycles : 2).[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116038 ms (missed cycles : 2). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116038 ms (missed cycles : 2).[0m ×2 + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981408 ms (missed cycles : 2). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981408 ms (missed cycles : 2).[0m ×2 + 33.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117248 ms (missed cycles : 6). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.117248 ms (missed cycles : 6).[0m ×2 + 35.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837551 ms (missed cycles : 2). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837551 ms (missed cycles : 2).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742888 ms (missed cycles : 3). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742888 ms (missed cycles : 3).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.128401 ms (missed cycles : 5). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.128401 ms (missed cycles : 5).[0m ×2 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847490 ms (missed cycles : 3). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847490 ms (missed cycles : 3).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702845 ms (missed cycles : 2). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702845 ms (missed cycles : 2).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962746 ms (missed cycles : 2). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962746 ms (missed cycles : 2).[0m ×2 + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904090 ms (missed cycles : 2). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904090 ms (missed cycles : 2).[0m ×2 + 42.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374125 ms (missed cycles : 2). + 42.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374125 ms (missed cycles : 2).[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407364 ms (missed cycles : 3). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407364 ms (missed cycles : 3).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036375 ms (missed cycles : 2). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036375 ms (missed cycles : 2).[0m ×2 + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048844 ms (missed cycles : 2). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048844 ms (missed cycles : 2).[0m ×2 + 46.74sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737353 ms (missed cycles : 2). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737353 ms (missed cycles : 2).[0m ×2 + 47.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949450 ms (missed cycles : 2). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949450 ms (missed cycles : 2).[0m ×2 + 48.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551802.52262664 seconds ×3 + 48.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551803.16166472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.86sINFOobjective_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 + 48.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188617 ms (missed cycles : 2). + 48.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188617 ms (missed cycles : 2).[0m ×2 + 48.95sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 48.97sINFOros2_control_node[2026-08-12 16:23:23.325] [info] Received new action goal ×2 + 48.97sINFOros2_control_node[2026-08-12 16:23:23.325] [info] Accepted new action goal ×2 + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887993 ms (missed cycles : 2). + 49.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887993 ms (missed cycles : 2).[0m ×2 + 51.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143002 ms (missed cycles : 2). + 51.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143002 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 162 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6).[0m ×2 + 0.17sINFOobjective_server_node[2026-08-12 16:21:41.113] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649901883 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649934613 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sINFOobjective_server_node[2026-08-12 16:21:41.828] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.893653358 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.897426293 [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;93m2026-08-12 16:21:41.897452831 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.03sINFOobjective_server_node[2026-08-12 16:21:41.973] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-12 16:21:42.373755608 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396512977 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396551344 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551704.25727797 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.38sINFOros2_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 2.308362 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551704.91941881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558630 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558630 ms (missed cycles : 2).[0m ×2 + 6.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 7.28sINFOros2_control_node[2026-08-12 16:21:48.224] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-08-12 16:21:48.224] [info] Accepted new action goal ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765253 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765253 ms (missed cycles : 2).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486141 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486141 ms (missed cycles : 2).[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981467 ms (missed cycles : 3). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981467 ms (missed cycles : 3).[0m ×2 + 10.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.46sINFOros2_control_node[2026-08-12 16:21:51.403] [info] Received new action goal ×2 + 10.46sINFOros2_control_node[2026-08-12 16:21:51.403] [info] Accepted new action goal ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804756 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804756 ms (missed cycles : 3).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293192 ms (missed cycles : 5). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.293192 ms (missed cycles : 5).[0m ×2 + 13.43sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 13.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.49sINFOros2_control_node[2026-08-12 16:21:54.438] [info] Received new action goal ×2 + 13.49sINFOros2_control_node[2026-08-12 16:21:54.438] [info] Accepted new action goal ×2 + 13.51sWARNros2_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 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025851 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025851 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066909 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066909 ms (missed cycles : 2).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048090 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048090 ms (missed cycles : 3).[0m ×2 + 16.44sINFOobjective_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 + 16.45sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.45sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.45sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.45sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085701 ms (missed cycles : 5). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085701 ms (missed cycles : 5).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326878 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326878 ms (missed cycles : 3).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879628 ms (missed cycles : 2). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879628 ms (missed cycles : 2).[0m ×2 + 19.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381050 ms (missed cycles : 2). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381050 ms (missed cycles : 2).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005864 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005864 ms (missed cycles : 2).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813731 ms (missed cycles : 4). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813731 ms (missed cycles : 4).[0m ×2 + 23.23sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.23sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.23sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.23sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.23sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267463 ms (missed cycles : 3). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267463 ms (missed cycles : 3).[0m ×2 + 24.17sINFOros2_control_node[2026-08-12 16:22:05.113] [info] Received new action goal ×2 + 24.17sINFOros2_control_node[2026-08-12 16:22:05.113] [info] Accepted new action goal ×2 + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929121 ms (missed cycles : 4). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929121 ms (missed cycles : 4).[0m ×2 + 24.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 25.34sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.35sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.63sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 25.63sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.67sINFOros2_control_node[2026-08-12 16:22:06.616] [info] Received new action goal ×2 + 25.67sINFOros2_control_node[2026-08-12 16:22:06.616] [info] Accepted new action goal ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874906 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874906 ms (missed cycles : 2).[0m ×2 + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947248 ms (missed cycles : 3). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947248 ms (missed cycles : 3).[0m ×2 + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959998 ms (missed cycles : 2). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959998 ms (missed cycles : 2).[0m ×2 + 27.80sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 27.80sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.82sINFOros2_control_node[2026-08-12 16:22:08.764] [info] Received new action goal ×2 + 27.82sINFOros2_control_node[2026-08-12 16:22:08.764] [info] Accepted new action goal ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812920 ms (missed cycles : 5). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812920 ms (missed cycles : 5).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491558 ms (missed cycles : 4). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491558 ms (missed cycles : 4).[0m ×2 + 30.74sWARNros2_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 + 30.86sINFOros2_control_node[2026-08-12 16:22:11.803] [info] Received new action goal ×2 + 30.86sINFOros2_control_node[2026-08-12 16:22:11.803] [info] Accepted new action goal ×2 + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434536 ms (missed cycles : 2). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434536 ms (missed cycles : 2).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246276 ms (missed cycles : 3). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246276 ms (missed cycles : 3).[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391290 ms (missed cycles : 4). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391290 ms (missed cycles : 4).[0m ×2 + 33.45sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 33.45sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.50sINFOros2_control_node[2026-08-12 16:22:14.447] [info] Received new action goal ×2 + 33.50sINFOros2_control_node[2026-08-12 16:22:14.447] [info] Accepted new action goal ×2 + 34.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716206 ms (missed cycles : 2). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716206 ms (missed cycles : 2).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826398 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826398 ms (missed cycles : 3).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134622 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134622 ms (missed cycles : 2).[0m ×2 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779551 ms (missed cycles : 3). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779551 ms (missed cycles : 3).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119808 ms (missed cycles : 2). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119808 ms (missed cycles : 2).[0m ×2 + 40.15sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190755 ms (missed cycles : 3). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190755 ms (missed cycles : 3).[0m ×2 + 40.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 41.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892594 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892594 ms (missed cycles : 2).[0m ×2 + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325370 ms (missed cycles : 2). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325370 ms (missed cycles : 2).[0m ×2 + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070367 ms (missed cycles : 3). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070367 ms (missed cycles : 3).[0m ×2 + 44.14sINFOros2_control_node[2026-08-12 16:22:25.083] [info] Received new action goal ×2 + 44.14sINFOros2_control_node[2026-08-12 16:22:25.083] [info] Accepted new action goal ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190184 ms (missed cycles : 3). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190184 ms (missed cycles : 3).[0m ×2 + 45.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786551746.23962498 seconds ×3 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406382 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406382 ms (missed cycles : 3).[0m ×2 + 46.21sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786551747.15662766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734824 ms (missed cycles : 2). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734824 ms (missed cycles : 2).[0m ×2 + 47.39sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 47.40sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.42sINFOros2_control_node[2026-08-12 16:22:28.362] [info] Received new action goal ×2 + 47.42sINFOros2_control_node[2026-08-12 16:22:28.362] [info] Accepted new action goal ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785122 ms (missed cycles : 4). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785122 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 32.8s | 128 warnings · 2571 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×393 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×393 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×786 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×786 + 0.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270213 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270213 ms (missed cycles : 2).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740884 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740884 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126725 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126725 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999810 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999810 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551824.65110064 seconds ×3 + 3.80sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.80sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786551825.28552485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390491 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390491 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 5 iterations (0.00625901 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.70sINFOros2_control_node[2026-08-12 16:23:45.555] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-12 16:23:45.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762701 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762701 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049592 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049592 ms (missed cycles : 4).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146207 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146207 ms (missed cycles : 2).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192866 ms (missed cycles : 5). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.192866 ms (missed cycles : 5).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078465 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078465 ms (missed cycles : 3).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358099 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358099 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523118 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523118 ms (missed cycles : 2).[0m ×2 + 12.80sWARNros2_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 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759056 ms (missed cycles : 3). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759056 ms (missed cycles : 3).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505059 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505059 ms (missed cycles : 3).[0m ×2 + 14.67sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493832 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493832 ms (missed cycles : 3).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.933714 ms (missed cycles : 7). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.933714 ms (missed cycles : 7).[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989871 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989871 ms (missed cycles : 2).[0m ×2 + 18.67sWARNros2_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 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.425692 ms (missed cycles : 6). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.425692 ms (missed cycles : 6).[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835451 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835451 ms (missed cycles : 3).[0m ×2 + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035336 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035336 ms (missed cycles : 2).[0m ×2 + 21.60sINFOobjective_server_nodeFound path in 4 iterations (0.00334573 s). ×2 + 21.68sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 21.72sINFOobjective_server_nodeFound path in 14 iterations (0.00884751 s). ×2 + 21.76sINFOobjective_server_nodePath shortcutter: [X_________________________X_____________X_______________X] ×2 + 21.79sINFOobjective_server_nodeFound path in 2 iterations (0.00500611 s). ×2 + 21.85sINFOobjective_server_nodePath shortcutter: [X_____________________________X___________________X] ×2 + 21.88sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 21.93sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 21.96sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 22.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 22.04sINFOobjective_server_nodeFound path in 12 iterations (0.00798023 s). ×2 + 22.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 22.17sINFOobjective_server_nodeFound path in 1 iterations (0.0045927 s). ×2 + 22.22sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 22.25sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 22.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 22.32sINFOobjective_server_nodeFound path in 4 iterations (0.00772494 s). ×2 + 22.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________X] ×2 + 22.46sINFOobjective_server_nodeFound path in 4 iterations (0.00352168 s). ×2 + 22.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 22.58sINFOobjective_server_nodeFound path in 1 iterations (0.00533858 s). ×2 + 22.64sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 22.67sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603778 ms (missed cycles : 3). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603778 ms (missed cycles : 3).[0m ×2 + 22.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 22.77sINFOobjective_server_nodeFound path in 26 iterations (0.0143027 s). ×2 + 22.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________________X] ×2 + 22.91sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 23.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 23.03sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 23.13sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 23.17sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 23.33sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 23.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 23.56sINFOros2_control_node[2026-08-12 16:24:04.414] [info] Received new action goal ×2 + 23.56sINFOros2_control_node[2026-08-12 16:24:04.414] [info] Accepted new action goal ×2 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339010 ms (missed cycles : 5). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339010 ms (missed cycles : 5).[0m ×2 + 23.85sWARNros2_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 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924428 ms (missed cycles : 3). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924428 ms (missed cycles : 3).[0m ×2 + 26.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.223803 ms (missed cycles : 5). + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.223803 ms (missed cycles : 5).[0m ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.579209 ms (missed cycles : 6). + 27.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.579209 ms (missed cycles : 6).[0m ×2 + 28.55sINFOros2_control_node[2026-08-12 16:24:09.406] [info] Received new action goal ×2 + 28.55sINFOros2_control_node[2026-08-12 16:24:09.406] [info] Accepted new action goal ×2 + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727529 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727529 ms (missed cycles : 2).[0m ×2 + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620076 ms (missed cycles : 4). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620076 ms (missed cycles : 4).[0m ×2 + 29.66sWARNros2_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 + 30.17sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 30.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 30.18sINFOros2_control_node[2026-08-12 16:24:11.039] [info] Received new action goal ×2 + 30.18sINFOros2_control_node[2026-08-12 16:24:11.039] [info] Accepted new action goal ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425726 ms (missed cycles : 3). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425726 ms (missed cycles : 3).[0m ×2 + 31.39sWARNobjective_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 + 31.39sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 31.43sINFOros2_control_node[2026-08-12 16:24:12.284] [info] Received new action goal ×2 + 31.43sINFOros2_control_node[2026-08-12 16:24:12.284] [info] Accepted new action goal ×2 + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862840 ms (missed cycles : 3). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862840 ms (missed cycles : 3).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475880 ms (missed cycles : 4). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475880 ms (missed cycles : 4).[0m ×2 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577408 ms (missed cycles : 4). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577408 ms (missed cycles : 4).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316747 ms (missed cycles : 4). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316747 ms (missed cycles : 4).[0m ×2 + 35.58sWARNros2_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 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857367 ms (missed cycles : 2). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857367 ms (missed cycles : 2).[0m ×2 + 36.61sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786551857.46572566 seconds ×3 + 36.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 36.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 36.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 36.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 36.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 36.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 37.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786551858.14520693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809318 ms (missed cycles : 2). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809318 ms (missed cycles : 2).[0m ×2 + 37.51sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 37.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 37.52sINFOros2_control_node[2026-08-12 16:24:18.371] [info] Received new action goal ×2 + 37.52sINFOros2_control_node[2026-08-12 16:24:18.371] [info] Accepted new action goal ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461143 ms (missed cycles : 3). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461143 ms (missed cycles : 3).[0m ×2 + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981549 ms (missed cycles : 2). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981549 ms (missed cycles : 2).[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 | 94 warnings · 13786 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2271 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2271 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4542 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4542 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036375 ms (missed cycles : 2). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036375 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048844 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048844 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737353 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737353 ms (missed cycles : 2).[0m ×2 + 3.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949450 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949450 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.79sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551802.52262664 seconds ×3 + 3.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551803.16166472 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188617 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188617 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-08-12 16:23:23.325] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-12 16:23:23.325] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887993 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887993 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.90sINFOobjective_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 + 5.91sINFOobjective_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 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143002 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143002 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562531 ms (missed cycles : 4). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562531 ms (missed cycles : 4).[0m ×2 + 8.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650257 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650257 ms (missed cycles : 3).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885617 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885617 ms (missed cycles : 3).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358604 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358604 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249965 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249965 ms (missed cycles : 4).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604162 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604162 ms (missed cycles : 3).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838894 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838894 ms (missed cycles : 2).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137650 ms (missed cycles : 5). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137650 ms (missed cycles : 5).[0m ×2 + 15.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383826 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383826 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.493884 ms (missed cycles : 7). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.493884 ms (missed cycles : 7).[0m ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943752 ms (missed cycles : 3). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943752 ms (missed cycles : 3).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179757 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179757 ms (missed cycles : 2).[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256892 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256892 ms (missed cycles : 2).[0m ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888999 ms (missed cycles : 2). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888999 ms (missed cycles : 2).[0m ×2 + 22.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270213 ms (missed cycles : 2). + 22.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270213 ms (missed cycles : 2).[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740884 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740884 ms (missed cycles : 2).[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126725 ms (missed cycles : 2). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126725 ms (missed cycles : 2).[0m ×2 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999810 ms (missed cycles : 3). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999810 ms (missed cycles : 3).[0m ×2 + 25.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551824.65110064 seconds ×3 + 26.55sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786551825.28552485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390491 ms (missed cycles : 3). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390491 ms (missed cycles : 3).[0m ×2 + 26.73sINFOobjective_server_nodeFound path in 5 iterations (0.00625901 s). ×2 + 26.80sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.82sINFOros2_control_node[2026-08-12 16:23:45.555] [info] Received new action goal ×2 + 26.82sINFOros2_control_node[2026-08-12 16:23:45.555] [info] Accepted new action goal ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762701 ms (missed cycles : 5). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762701 ms (missed cycles : 5).[0m ×2 + 27.99sWARNros2_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 + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049592 ms (missed cycles : 4). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049592 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.9s | 3 errors · 77 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 1.89sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_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 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1786551628.92839766 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651323 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651323 ms (missed cycles : 4).[0m ×2 + 8.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218522 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218522 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114357 ms (missed cycles : 5). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114357 ms (missed cycles : 5).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598762 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598762 ms (missed cycles : 4).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898714 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898714 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864196 ms (missed cycles : 4). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864196 ms (missed cycles : 4).[0m ×2 + 13.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.85sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 13.85sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.86sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 13.88sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 13.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.95sINFOobjective_server_nodeFound path in 1 iterations (0.00407242 s). ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.980806 ms (missed cycles : 7). + 14.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.980806 ms (missed cycles : 7).[0m ×2 + 14.15sINFOros2_control_node[2026-08-12 16:20:40.876] [info] Received new action goal ×2 + 14.15sINFOros2_control_node[2026-08-12 16:20:40.876] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525375 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525375 ms (missed cycles : 2).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361252 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361252 ms (missed cycles : 2).[0m ×2 + 16.62sINFOros2_control_node[2026-08-12 16:20:43.349] [info] Received new action goal ×2 + 16.62sINFOros2_control_node[2026-08-12 16:20:43.349] [info] Accepted new action goal ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4).[0m ×2 + 18.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 18.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.54sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Received new action goal ×2 + 18.54sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Accepted new action goal ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5).[0m ×2 + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3).[0m ×2 + 19.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551646.64820027 seconds ×3 + 20.09sWARNros2_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 + 20.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551647.26975274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551647.35987568 seconds ×3 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5).[0m ×2 + 21.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551647.98226070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.40sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 21.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.42sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Received new action goal ×2 + 21.42sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Accepted new action goal ×2 + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 62 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374186 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374186 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 0.52sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.52sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.63sINFOobjective_server_nodeFound path in 1 iterations (0.00325006 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.82sINFOros2_control_node[2026-08-12 16:21:17.587] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-12 16:21:17.587] [info] Accepted new action goal ×2 + 1.01sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927639 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927639 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_node[2026-08-12 16:21:18.019] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-12 16:21:18.019] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375573 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375573 ms (missed cycles : 4).[0m ×2 + 2.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226171 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226171 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.63sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.63sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.63sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.64sERRORobjective_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: 1786551680.41483974 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403603 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403603 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786551681.22406912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.64sINFOros2_control_node[2026-08-12 16:21:21.408] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-12 16:21:21.408] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570739 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570739 ms (missed cycles : 5).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322193 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322193 ms (missed cycles : 5).[0m ×2 + 6.98sWARNros2_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 + 7.16sINFOros2_control_node[2026-08-12 16:21:23.930] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-08-12 16:21:23.930] [info] Accepted new action goal ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554589 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554589 ms (missed cycles : 3).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131790 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131790 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475714 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475714 ms (missed cycles : 3).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597578 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597578 ms (missed cycles : 3).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.001564 ms (missed cycles : 5). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.001564 ms (missed cycles : 5).[0m ×2 + 12.90sWARNros2_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 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575534 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575534 ms (missed cycles : 2).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339281 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339281 ms (missed cycles : 3).[0m ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486451 ms (missed cycles : 4). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486451 ms (missed cycles : 4).[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786551692.50187111 seconds ×3 + 16.39sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551693.16541696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163839 ms (missed cycles : 6). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163839 ms (missed cycles : 6).[0m ×2 + 16.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.45sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551693.22554564 seconds ×3 + 17.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551693.82302761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 17.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.17sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Received new action goal ×2 + 17.17sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Accepted new action goal ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2).[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4).[0m ×2 + 19.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325370 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325370 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_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 + 0.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.77sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.77sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.77sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070367 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070367 ms (missed cycles : 3).[0m ×2 + 1.64sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-08-12 16:22:25.083] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-08-12 16:22:25.083] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190184 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190184 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786551746.23962498 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406382 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406382 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786551747.15662766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734824 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734824 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (5.62e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.93sINFOros2_control_node[2026-08-12 16:22:28.362] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-12 16:22:28.362] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785122 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785122 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683841 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683841 ms (missed cycles : 4).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262900 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262900 ms (missed cycles : 3).[0m ×2 + 8.62sINFOobjective_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 + 8.62sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.62sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.62sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.63sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922211 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922211 ms (missed cycles : 2).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152537 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152537 ms (missed cycles : 3).[0m ×2 + 10.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 11.03sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.05sINFOros2_control_node[2026-08-12 16:22:34.481] [info] Received new action goal ×2 + 11.05sINFOros2_control_node[2026-08-12 16:22:34.481] [info] Accepted new action goal ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131619 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131619 ms (missed cycles : 3).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067009 ms (missed cycles : 4). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067009 ms (missed cycles : 4).[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703948 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703948 ms (missed cycles : 2).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580391 ms (missed cycles : 4). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580391 ms (missed cycles : 4).[0m ×2 + 14.65sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786551758.08677745 seconds ×3 + 15.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551758.68700647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 15.45sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.46sINFOros2_control_node[2026-08-12 16:22:38.890] [info] Received new action goal ×2 + 15.46sINFOros2_control_node[2026-08-12 16:22:38.890] [info] Accepted new action goal ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038350 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038350 ms (missed cycles : 2).[0m ×2 + 16.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157484 ms (missed cycles : 6). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157484 ms (missed cycles : 6).[0m ×2 + 16.73sINFOobjective_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 + 16.74sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 59 warnings · 334 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 8947] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 0.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 0.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.06sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×6 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.36sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 6.85sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.87sINFOros2_control_node[2026-08-12 16:20:21.037] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-08-12 16:20:21.037] [info] Accepted new action goal ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852971 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852971 ms (missed cycles : 3).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766530 ms (missed cycles : 4). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766530 ms (missed cycles : 4).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961055 ms (missed cycles : 3). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961055 ms (missed cycles : 3).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542572 ms (missed cycles : 3). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542572 ms (missed cycles : 3).[0m ×2 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.61sINFOros2_control_node[2026-08-12 16:20:24.777] [info] Received new action goal ×2 + 10.61sINFOros2_control_node[2026-08-12 16:20:24.777] [info] Accepted new action goal ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271424 ms (missed cycles : 5). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271424 ms (missed cycles : 5).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 13.92sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 13.93sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.94sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 13.94sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 14.73sINFOobjective_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 + 14.73sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 14.73sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 14.76sERRORobjective_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: 1786551628.92839766 seconds ×3 + 14.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 15.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 16.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.32sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 16.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.33sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 16.33sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[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 4.912430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 1.69sINFOobjective_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 + 1.69sERRORobjective_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: 1786551900.80456185 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.93sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285605 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285605 ms (missed cycles : 3).[0m ×2 + 7.22sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.23sINFOros2_control_node[2026-08-12 16:25:06.341] [info] Received new action goal ×2 + 7.23sINFOros2_control_node[2026-08-12 16:25:06.341] [info] Accepted new action goal ×2 + 7.23sINFOros2_control_node[2026-08-12 16:25:06.341] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.496892 ms (missed cycles : 6). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.496892 ms (missed cycles : 6).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651098 ms (missed cycles : 4). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651098 ms (missed cycles : 4).[0m ×2 + 8.75sWARNros2_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 ×4 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492658 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492658 ms (missed cycles : 3).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314333 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314333 ms (missed cycles : 3).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2).[0m ×2 + 14.19sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Got request to cancel active goal. ×2 + 14.19sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Canceling active goal... ×2 + 14.20sERRORobjective_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: 1786551913.31209898 seconds ×3 + 14.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551913.91486478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5).[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551914.75499177 seconds ×3 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5).[0m ×2 + 16.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551915.35316420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.24sINFOobjective_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 + 16.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551915.35558939 seconds ×3 + 16.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551916.09278440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551916.09323406 seconds ×3 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703656 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703656 ms (missed cycles : 2).[0m ×2 + 7.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.12sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.12sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387583 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387583 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 7.40sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.41sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 7.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.54sINFOobjective_server_nodeFound path in 1 iterations (0.00316621 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 1 iterations (0.00446397 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.16sINFOros2_control_node[2026-08-12 16:21:03.689] [info] Received new action goal ×2 + 8.16sINFOros2_control_node[2026-08-12 16:21:03.689] [info] Accepted new action goal ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685291 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685291 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188089 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188089 ms (missed cycles : 2).[0m ×2 + 10.11sWARNros2_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 + 10.58sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861542 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861542 ms (missed cycles : 3).[0m ×2 + 10.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.86sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 10.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786551666.41308570 seconds ×3 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702272 ms (missed cycles : 3). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702272 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570901 ms (missed cycles : 5). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570901 ms (missed cycles : 5).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484852 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484852 ms (missed cycles : 2).[0m ×2 + 14.50sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786551670.03092933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 14.71sINFOros2_control_node[2026-08-12 16:21:10.234] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-08-12 16:21:10.234] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826226 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826226 ms (missed cycles : 3).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932950 ms (missed cycles : 4). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932950 ms (missed cycles : 4).[0m ×2 + 16.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068610 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068610 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 58 warnings · 170 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861542 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861542 ms (missed cycles : 3).[0m ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786551666.41308570 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702272 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702272 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570901 ms (missed cycles : 5). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570901 ms (missed cycles : 5).[0m ×2 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484852 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484852 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786551670.03092933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-12 16:21:10.234] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-12 16:21:10.234] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826226 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826226 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932950 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932950 ms (missed cycles : 4).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068610 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.068610 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.45sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976134 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.976134 ms (missed cycles : 5).[0m ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (4.91e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 1 iterations (0.00279186 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 1 iterations (0.00596087 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.49sINFOros2_control_node[2026-08-12 16:21:14.598] [info] Received new action goal ×2 + 8.49sINFOros2_control_node[2026-08-12 16:21:14.598] [info] Accepted new action goal ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773160 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773160 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.867451 ms (missed cycles : 6). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.867451 ms (missed cycles : 6).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374186 ms (missed cycles : 3). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374186 ms (missed cycles : 3).[0m ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 11.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.28sINFOobjective_server_nodeFound path in 1 iterations (0.00325006 s). ×2 + 11.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.48sINFOros2_control_node[2026-08-12 16:21:17.587] [info] Received new action goal ×2 + 11.48sINFOros2_control_node[2026-08-12 16:21:17.587] [info] Accepted new action goal ×2 + 11.67sWARNros2_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 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927639 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927639 ms (missed cycles : 3).[0m ×2 + 11.91sINFOros2_control_node[2026-08-12 16:21:18.019] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-08-12 16:21:18.019] [info] Accepted new action goal ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375573 ms (missed cycles : 4). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375573 ms (missed cycles : 4).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226171 ms (missed cycles : 5). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226171 ms (missed cycles : 5).[0m ×2 + 14.29sINFOobjective_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 + 14.29sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.29sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.30sERRORobjective_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: 1786551680.41483974 seconds ×3 + 14.98sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403603 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403603 ms (missed cycles : 2).[0m ×2 + 15.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786551681.22406912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.28sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 15.30sINFOros2_control_node[2026-08-12 16:21:21.408] [info] Received new action goal ×2 + 15.30sINFOros2_control_node[2026-08-12 16:21:21.408] [info] Accepted new action goal ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570739 ms (missed cycles : 5). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570739 ms (missed cycles : 5).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322193 ms (missed cycles : 5). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322193 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ 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 5.735253 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735253 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409212 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409212 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271486 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271486 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103247 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103247 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786551889.84638214 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.81sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786551890.45423722 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 (3.02e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-08-12 16:24:50.588] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-12 16:24:50.588] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986249 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986249 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785308 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785308 ms (missed cycles : 4).[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.86sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784345 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784345 ms (missed cycles : 4).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359392 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359392 ms (missed cycles : 2).[0m ×2 + 8.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252167 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252167 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383079 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383079 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 14.16sINFOobjective_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 + 14.16sERRORobjective_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: 1786551900.80456185 seconds ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 14.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 15.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.57sINFOobjective_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 + 15.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 16.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.39sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 16.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.40sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 16.40sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 57 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4).[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.22sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551646.64820027 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.79sWARNros2_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 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551647.26975274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551647.35987568 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551647.98226070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784664 ms (missed cycles : 5). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784664 ms (missed cycles : 5).[0m ×2 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.48sINFOros2_control_node[2026-08-12 16:20:51.506] [info] Received new action goal ×2 + 7.48sINFOros2_control_node[2026-08-12 16:20:51.506] [info] Accepted new action goal ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124814 ms (missed cycles : 3). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124814 ms (missed cycles : 3).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916359 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916359 ms (missed cycles : 2).[0m ×2 + 9.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.81sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 9.83sINFOros2_control_node[2026-08-12 16:20:53.854] [info] Received new action goal ×2 + 9.83sINFOros2_control_node[2026-08-12 16:20:53.854] [info] Accepted new action goal ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.215405 ms (missed cycles : 5). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.215405 ms (missed cycles : 5).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 12.17sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 12.18sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 12.18sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 14.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 14.28sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 14.29sERRORobjective_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: 1786551658.31541228 seconds ×3 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 15.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.14sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 15.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 61 warnings · 105 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_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 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228597 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228597 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192839 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192839 ms (missed cycles : 4).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840333 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.840333 ms (missed cycles : 5).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126603 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126603 ms (missed cycles : 3).[0m ×2 + 10.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533608 ms (missed cycles : 5). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533608 ms (missed cycles : 5).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663541 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663541 ms (missed cycles : 5).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419766 ms (missed cycles : 5). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419766 ms (missed cycles : 5).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968020 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968020 ms (missed cycles : 2).[0m ×2 + 13.98sERRORobjective_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: 1786551879.30167413 seconds ×3 + 14.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786551879.92684007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238686 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238686 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 14.91sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.93sINFOros2_control_node[2026-08-12 16:24:40.252] [info] Received new action goal ×2 + 14.93sINFOros2_control_node[2026-08-12 16:24:40.252] [info] Accepted new action goal ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955420 ms (missed cycles : 4). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955420 ms (missed cycles : 4).[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189515 ms (missed cycles : 6). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189515 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 63 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475880 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475880 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577408 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577408 ms (missed cycles : 4).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316747 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316747 ms (missed cycles : 4).[0m ×2 + 2.75sWARNros2_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 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857367 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857367 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786551857.46572566 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786551858.14520693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809318 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809318 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.69sINFOros2_control_node[2026-08-12 16:24:18.371] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-12 16:24:18.371] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461143 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461143 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981549 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981549 ms (missed cycles : 2).[0m ×2 + 7.42sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211303 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211303 ms (missed cycles : 2).[0m ×2 + 8.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.61sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694910 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694910 ms (missed cycles : 2).[0m ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.98sINFOobjective_server_nodeFound path in 1 iterations (0.00323753 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.14sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.17sINFOros2_control_node[2026-08-12 16:24:22.853] [info] Received new action goal ×2 + 9.17sINFOros2_control_node[2026-08-12 16:24:22.853] [info] Accepted new action goal ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101164 ms (missed cycles : 6). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101164 ms (missed cycles : 6).[0m ×2 + 9.80sWARNros2_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 ×4 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843812 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843812 ms (missed cycles : 4).[0m ×2 + 11.64sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 11.64sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 13.49sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.51sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 13.51sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 14.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.62sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 14.62sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 14.64sERRORobjective_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: 1786551868.32078862 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 15.47sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.48sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 17.39sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.8s | 57 errors · 39 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Got request to cancel active goal. ×2 + 0.36sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Canceling active goal... ×2 + 0.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786551913.31209898 seconds ×3 + 0.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.77sWARNros2_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 + 0.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551913.91486478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551914.75499177 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551915.35316420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.41sINFOobjective_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 + 2.41sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551915.35558939 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551916.09278440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551916.09323406 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786551916.69508314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786551917.12523198 seconds ×3 + 4.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612373 ms (missed cycles : 2). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612373 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107753 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107753 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853416 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853416 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183727 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183727 ms (missed cycles : 2).[0m ×2 + 7.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.16sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436088 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436088 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544456 ms (missed cycles : 5). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544456 ms (missed cycles : 5).[0m ×2 + 9.94sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.98sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORweb_video_auth_proxy-23process has died [pid 9055, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.98sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.01sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORweb_bridge_auth_proxy-22process has died [pid 9054, 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 + 10.01sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.02sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.03sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.04sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.06sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.06sINFOvideo_server-21process has finished cleanly [pid 9053] ×2 + 10.07sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.08sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.09sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.11sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.12sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.13sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.15sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.16sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.17sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.18sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.18sINFOvideo_server2026/08/12 16:25:22 INF shutting down gracefully ×2 + 10.18sINFOvideo_server2026/08/12 16:25:22 INF [WebRTC] closing ×2 + 10.18sINFOvideo_server2026/08/12 16:25:22 INF [RTSP] closing ×2 + 10.18sINFOvideo_server2026/08/12 16:25:22 INF waiting for running hooks ×2 + 10.19sINFOcontroller_managerShutdown request received.... + 10.19sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.19sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.19sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.19sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.19sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.19sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.19sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.19sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.19sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.19sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.19sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.19sINFOcontroller_managerShutting down the controller manager. + 10.19sERRORmove_group-9process has died [pid 8978, 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_j7qby_zi --params-file /tmp/launch_params_4tozuf3o --params-file /tmp/launch_params__2pe85pu --params-file /tmp/launch_params_vl7w_j44 --params-file /tmp/launch_params__pgh2185 --params-file /tmp/launch_params_5_yvu_e3']. ×2 + 10.19sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.19sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.19sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.19sERRORmove_groupStack trace (most recent call last) in thread 9284: ×2 + 10.19sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.19sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.19sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9968137a63, in __clone ×2 + 10.19sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99680aaaa3, in ×2 + 10.19sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f996833cdb3, in ×2 + 10.19sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f9968aad637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.19sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f99686ce620, in rclcpp::Rate::sleep() ×2 + 10.19sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9968610d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.19sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f99685d2087, in ×2 + 10.19sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f996830b390, in __cxa_throw ×2 + 10.19sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f99682f5a54, in std::terminate() ×2 + 10.19sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f996830b0d9, in ×2 + 10.19sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f99682f5ff4, in ×2 + 10.19sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99680368fe, in abort ×2 + 10.19sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f996805327d, in raise ×2 + 10.19sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f99680acb2c, in pthread_kill ×2 + 10.19sERRORmove_groupAborted (Signal sent by tkill() 8978 0) ×2 + 10.20sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.20sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.20sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.20sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.20sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.20sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.20sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.20sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.20sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.20sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.20sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.20sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.20sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.20sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.20sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.20sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.20sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.40sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.40sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.40sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.08sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9052] ×2 + 11.08sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.15sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8982] ×2 + 11.16sINFOui_teleop_bridge-18process has finished cleanly [pid 8987] ×2 + 11.17sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8981] ×2 + 11.17sINFOcomponent_container_mt-16process has finished cleanly [pid 8985] ×2 + 11.17sINFOexecute_objective_bridge-17process has finished cleanly [pid 8986] ×2 + 11.22sINFOwaypoint_manager_node-11process has finished cleanly [pid 8980] ×2 + 11.22sINFOparameter_manager_node-10process has finished cleanly [pid 8979] ×2 + 11.24sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 11.29sINFOobjective_server_node[0;m[2026-08-12 16:25:24.234] [moveit_pro_license] [critical] ×2 + 11.29sINFOobjective_server_node************************************************* ×4 + 11.29sINFOobjective_server_node* MoveIt Pro License ×2 + 11.29sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.79sINFOobjective_server_node_main-14process has finished cleanly [pid 8983] ×2 + 11.79sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.29sINFOcomponent_container_mt-15process has finished cleanly [pid 8984] ×2 + 12.46sINFOweb_bridge-19process has finished cleanly [pid 8988] ×2 + 12.46sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.84sINFOros2_control_node-1process has finished cleanly [pid 8941] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 60 warnings · 91 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533608 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533608 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663541 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663541 ms (missed cycles : 5).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419766 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419766 ms (missed cycles : 5).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968020 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968020 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sERRORobjective_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: 1786551879.30167413 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 + 4.17sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786551879.92684007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238686 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238686 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.49sINFOros2_control_node[2026-08-12 16:24:40.252] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-12 16:24:40.252] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955420 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955420 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189515 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189515 ms (missed cycles : 6).[0m ×2 + 6.93sWARNros2_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 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213705 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213705 ms (missed cycles : 3).[0m ×2 + 8.50sINFOros2_control_node[2026-08-12 16:24:44.261] [info] Received new action goal ×2 + 8.50sINFOros2_control_node[2026-08-12 16:24:44.261] [info] Accepted new action goal ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937445 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937445 ms (missed cycles : 3).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045145 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045145 ms (missed cycles : 3).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735253 ms (missed cycles : 4). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735253 ms (missed cycles : 4).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409212 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409212 ms (missed cycles : 2).[0m ×2 + 12.99sWARNros2_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 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271486 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271486 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103247 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103247 ms (missed cycles : 2).[0m ×2 + 14.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786551889.84638214 seconds ×3 + 14.69sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786551890.45423722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 14.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.83sINFOros2_control_node[2026-08-12 16:24:50.588] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-08-12 16:24:50.588] [info] Accepted new action goal ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986249 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986249 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785308 ms (missed cycles : 4). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785308 ms (missed cycles : 4).[0m ×2 + 16.74sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.74sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784345 ms (missed cycles : 4). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784345 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.3s | 40 warnings · 163 info |
+ 0.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551693.22554564 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551693.82302761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786551695.94314790 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356822 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356822 ms (missed cycles : 6).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786551697.54476595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317870 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317870 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823467 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823467 ms (missed cycles : 6).[0m ×2 + 5.88sINFOobjective_server_node[2026-08-12 16:21:39.093] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-12 16:21:39.872192058 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-12 16:21:39.872220607 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576838 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576838 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6).[0m ×2 + 7.90sINFOobjective_server_node[2026-08-12 16:21:41.113] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.44sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649901883 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.44sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649934613 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 8.62sINFOobjective_server_node[2026-08-12 16:21:41.828] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.68sINFOobjective_server_node[0;93m2026-08-12 16:21:41.893653358 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.68sINFOobjective_server_node[0;93m2026-08-12 16:21:41.897426293 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.68sINFOobjective_server_node[0;93m2026-08-12 16:21:41.897452831 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.76sINFOobjective_server_node[2026-08-12 16:21:41.973] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3).[0m ×2 + 9.16sINFOobjective_server_node[0;93m2026-08-12 16:21:42.373755608 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.18sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396512977 [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 + 9.18sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396551344 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2).[0m ×2 + 11.04sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551704.25727797 seconds ×3 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2).[0m ×2 + 11.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551704.91941881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.79sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 11.80sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 12.08sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.13sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Received new action goal ×2 + 12.13sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Accepted new action goal ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNros2_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 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575534 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575534 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339281 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339281 ms (missed cycles : 3).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486451 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486451 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786551692.50187111 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551693.16541696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163839 ms (missed cycles : 6). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163839 ms (missed cycles : 6).[0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551693.22554564 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551693.82302761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4).[0m ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786551695.94314790 seconds ×3 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356822 ms (missed cycles : 6). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356822 ms (missed cycles : 6).[0m ×2 + 7.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786551697.54476595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317870 ms (missed cycles : 2). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317870 ms (missed cycles : 2).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823467 ms (missed cycles : 6). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823467 ms (missed cycles : 6).[0m ×2 + 9.43sINFOobjective_server_node[2026-08-12 16:21:39.093] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.21sINFOobjective_server_node[0;93m2026-08-12 16:21:39.872192058 [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 + 10.21sINFOobjective_server_node[0;93m2026-08-12 16:21:39.872220607 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576838 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576838 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 32 warnings · 552 info |
+ 0.00sINFOobjective_server_node[2026-08-12 16:20:10.113] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.17sINFOobjective_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 + 0.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.19sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.19sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.19sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.19sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.19sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.19sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.19sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.19sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.37sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.37sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.96sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.96sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.96sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.96sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.96sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.96sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.96sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.96sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.96sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.96sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.96sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.96sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.96sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.11sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.11sINFOforce_torque_sensor_broadcasterconfigure successful + 1.11sINFOros2_control_nodeconfigure successful[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.14sINFOcomponent_container_mt[2026-08-12 16:20:11.256] [moveit_pro_license] [info] ×2 + 1.14sINFOcomponent_container_mt************************************************* ×4 + 1.14sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.14sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2).[0m ×2 + 1.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.46sINFOros2-2process has finished cleanly [pid 8942] ×2 + 1.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.46sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.47sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.81sWARNobjective_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 + 1.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.84sINFOros2-3process has finished cleanly [pid 8943] ×2 + 1.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.91sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.92sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.21sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.21sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.25sINFOros2-5process has finished cleanly [pid 8945] ×2 + 2.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 2.35sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5). + 2.39sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5).[0m ×2 + 2.39sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.39sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.40sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 2.42sINFOros2_control_node[2026-08-12 16:20:12.536] [info] Controller state will be published at 20 Hz. ×2 + 2.42sINFOros2_control_node[2026-08-12 16:20:12.537] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.74sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.74sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.74sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 2.75sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 2.77sINFOros2-8process has finished cleanly [pid 8948] ×2 + 2.79sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.79sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.79sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.79sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.79sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.79sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.80sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.81sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.81sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.08sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.12sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.12sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.14sINFOros2-4process has finished cleanly [pid 8944] ×2 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 3.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 3.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 3.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.24sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.24sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.27sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 3.64sINFOros2-6process has finished cleanly [pid 8946] ×2 + 3.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 3.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 3.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.70sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.73sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 3.73sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.80sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.06sINFOros2-7process has finished cleanly [pid 8947] ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 5.12sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 6.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 7.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 8.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 27 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314333 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314333 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1786551913.31209898 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551913.91486478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551914.75499177 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551915.35316420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.50sINFOobjective_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 + 5.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551915.35558939 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551916.09278440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551916.09323406 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2).[0m ×2 + 6.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786551916.69508314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786551917.12523198 seconds ×3 + 7.31sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612373 ms (missed cycles : 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 7.271424 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271424 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.57sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 2.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.59sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 2.59sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 3.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_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 + 3.39sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 3.39sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1786551628.92839766 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.99sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_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 + 2.41sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Canceling active goal... ×2 + 2.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786551913.31209898 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551913.91486478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551914.75499177 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551915.35316420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.46sINFOobjective_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 + 4.46sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.46sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551915.35558939 seconds ×3 + 5.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551916.09278440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551916.09323406 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786551916.69508314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786551917.12523198 seconds ×3 + 6.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612373 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612373 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107753 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107753 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 22 warnings · 100 info |
+ 0.00sWARNros2_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 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575534 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575534 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339281 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339281 ms (missed cycles : 3).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486451 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486451 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786551692.50187111 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.50sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551693.16541696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163839 ms (missed cycles : 6). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163839 ms (missed cycles : 6).[0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551693.22554564 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551693.82302761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4).[0m ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786551695.94314790 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361252 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361252 ms (missed cycles : 2).[0m ×2 + 0.32sINFOros2_control_node[2026-08-12 16:20:43.349] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-08-12 16:20:43.349] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4).[0m ×2 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.23sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Received new action goal ×2 + 2.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5).[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551646.64820027 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.79sWARNros2_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 + 4.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551647.26975274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551647.35987568 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551647.98226070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Accepted new action goal ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_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 + 3.82sERRORobjective_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: 1786551900.80456185 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 33 warnings · 460 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2).[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.09sINFOros2-2process has finished cleanly [pid 8942] ×2 + 0.09sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.09sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.10sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 8943] ×2 + 0.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.53sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.53sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 8945] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.98sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5). + 1.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5).[0m ×2 + 1.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.05sINFOros2_control_node[2026-08-12 16:20:12.536] [info] Controller state will be published at 20 Hz. ×2 + 1.05sINFOros2_control_node[2026-08-12 16:20:12.537] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 8948] ×2 + 1.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.44sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.77sINFOros2-4process has finished cleanly [pid 8944] ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 1.82sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.82sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.87sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.87sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.87sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 2.27sINFOros2-6process has finished cleanly [pid 8946] ×2 + 2.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 2.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 2.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.69sINFOros2-7process has finished cleanly [pid 8947] ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 3.75sWARNros2_control_nodeCamera render tick took 1.91 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 + 4.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 5.01sWARNros2_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 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.92sINFOobjective_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 + 6.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.05sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 2.74sINFOobjective_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 + 2.75sERRORobjective_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: 1786551900.80456185 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 3.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_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 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.99sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_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 + 1.40sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Got request to cancel active goal. ×2 + 1.40sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Canceling active goal... ×2 + 1.41sERRORobjective_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: 1786551913.31209898 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551913.91486478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551914.75499177 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551915.35316420 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: 1786551915.35558939 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551916.09278440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551916.09323406 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786551916.69508314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786551917.12523198 seconds ×3 + 5.26sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612373 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612373 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107753 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107753 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6).[0m ×2 + 0.17sINFOobjective_server_node[2026-08-12 16:21:41.113] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649901883 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649934613 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sINFOobjective_server_node[2026-08-12 16:21:41.828] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.893653358 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.897426293 [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;93m2026-08-12 16:21:41.897452831 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.03sINFOobjective_server_node[2026-08-12 16:21:41.973] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-12 16:21:42.373755608 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396512977 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396551344 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551704.25727797 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551704.91941881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271424 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271424 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.57sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 2.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.59sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 2.59sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 3.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_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 + 3.39sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 3.39sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1786551628.92839766 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.99sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4).[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.22sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551646.64820027 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sWARNros2_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 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551647.26975274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551647.35987568 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551647.98226070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6).[0m ×2 + 0.17sINFOobjective_server_node[2026-08-12 16:21:41.113] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649901883 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649934613 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sINFOobjective_server_node[2026-08-12 16:21:41.828] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.893653358 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.897426293 [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;93m2026-08-12 16:21:41.897452831 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.03sINFOobjective_server_node[2026-08-12 16:21:41.973] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-12 16:21:42.373755608 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396512977 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396551344 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551704.25727797 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551704.91941881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 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 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-12 16:22:34.481] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-12 16:22:34.481] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131619 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131619 ms (missed cycles : 3).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067009 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067009 ms (missed cycles : 4).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703948 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703948 ms (missed cycles : 2).[0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580391 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580391 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786551758.08677745 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 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ 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 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551758.68700647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.53sINFOros2_control_node[2026-08-12 16:22:38.890] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-12 16:22:38.890] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038350 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038350 ms (missed cycles : 2).[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157484 ms (missed cycles : 6). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157484 ms (missed cycles : 6).[0m ×2 + 5.81sINFOobjective_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 + 5.82sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407735 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 25 warnings · 2427 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×393 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×393 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×786 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×786 + 0.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270213 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270213 ms (missed cycles : 2).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740884 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740884 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126725 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126725 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999810 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999810 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551824.65110064 seconds ×3 + 3.80sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.80sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786551825.28552485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390491 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390491 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 5 iterations (0.00625901 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.70sINFOros2_control_node[2026-08-12 16:23:45.555] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-12 16:23:45.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762701 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762701 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049592 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049592 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_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 + 3.82sERRORobjective_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: 1786551900.80456185 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 | ||||
| − 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 4.314333 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314333 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1786551913.31209898 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551913.91486478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551914.75499177 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551915.35316420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.50sINFOobjective_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 + 5.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551915.35558939 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551916.09278440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551916.09323406 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 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 7.271424 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271424 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.57sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 2.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.59sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 2.59sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 3.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_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 + 3.39sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 3.39sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 3.41sERRORobjective_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: 1786551628.92839766 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.07sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.99sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 1.89sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_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 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1786551628.92839766 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 1.89sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_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 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1786551628.92839766 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 1.89sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_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 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1786551628.92839766 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.635868 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837912 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOobjective_server_nodeFound path in 0 iterations (7.89e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-12 16:20:28.106] [info] Accepted new action goal ×2 + 1.89sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.588594 ms (missed cycles : 4).[0m ×2 + 2.17sINFOobjective_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 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Got request to cancel active goal. ×2 + 2.18sINFOros2_control_node[2026-08-12 16:20:28.902] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1786551628.92839766 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551629.58926749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551629.69939709 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744796 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551630.30794263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-08-12 16:20:30.502] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809598 ms (missed cycles : 4).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226173 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193938 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4).[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.22sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551646.64820027 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sWARNros2_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 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551647.26975274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551647.35987568 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551647.98226070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4).[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.22sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551646.64820027 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sWARNros2_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 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551647.26975274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551647.35987568 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551647.98226070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908360 ms (missed cycles : 4).[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.22sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-08-12 16:20:45.261] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315264 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660443 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551646.64820027 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sWARNros2_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 + 3.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551647.26975274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551647.35987568 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.394000 ms (missed cycles : 5).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551647.98226070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-12 16:20:48.147] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.081076 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348414 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-08-12 16:20:56.204] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601649 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506849 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Got request to cancel active goal. ×2 + 2.78sINFOros2_control_node[2026-08-12 16:20:58.302] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786551658.31541228 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057338 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551658.96106863 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-12 16:20:59.165] [info] Accepted new action goal ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982777 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365692 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 3.374186 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374186 ms (missed cycles : 3).[0m ×2 + 0.52sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 0.52sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.52sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.54sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.63sINFOobjective_server_nodeFound path in 1 iterations (0.00325006 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.82sINFOros2_control_node[2026-08-12 16:21:17.587] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-12 16:21:17.587] [info] Accepted new action goal ×2 + 1.01sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927639 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927639 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_node[2026-08-12 16:21:18.019] [info] Received new action goal ×2 + 1.25sINFOros2_control_node[2026-08-12 16:21:18.019] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375573 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.375573 ms (missed cycles : 4).[0m ×2 + 2.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226171 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226171 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.63sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.63sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.63sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.64sERRORobjective_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: 1786551680.41483974 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.32sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403603 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403603 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786551681.22406912 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.64sINFOros2_control_node[2026-08-12 16:21:21.408] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-12 16:21:21.408] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570739 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570739 ms (missed cycles : 5).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322193 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.322193 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 22 warnings · 97 info |
+ 0.00sWARNros2_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 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575534 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575534 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339281 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339281 ms (missed cycles : 3).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486451 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486451 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786551692.50187111 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.50sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551693.16541696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163839 ms (missed cycles : 6). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163839 ms (missed cycles : 6).[0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551693.22554564 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551693.82302761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4).[0m ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 90 info |
+ 0.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551693.22554564 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551693.82302761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.72sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.72sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Received new action goal ×2 + 0.72sINFOros2_control_node[2026-08-12 16:21:33.937] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252223 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716998 ms (missed cycles : 4).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786551695.94314790 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356822 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356822 ms (missed cycles : 6).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786551697.54476595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317870 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317870 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823467 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.823467 ms (missed cycles : 6).[0m ×2 + 5.88sINFOobjective_server_node[2026-08-12 16:21:39.093] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-12 16:21:39.872192058 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.66sINFOobjective_server_node[0;93m2026-08-12 16:21:39.872220607 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576838 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576838 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6).[0m ×2 + 0.17sINFOobjective_server_node[2026-08-12 16:21:41.113] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649901883 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649934613 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sINFOobjective_server_node[2026-08-12 16:21:41.828] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.893653358 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.897426293 [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;93m2026-08-12 16:21:41.897452831 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.03sINFOobjective_server_node[2026-08-12 16:21:41.973] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-12 16:21:42.373755608 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396512977 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396551344 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551704.25727797 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551704.91941881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6).[0m ×2 + 0.17sINFOobjective_server_node[2026-08-12 16:21:41.113] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649901883 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649934613 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sINFOobjective_server_node[2026-08-12 16:21:41.828] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.893653358 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.897426293 [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;93m2026-08-12 16:21:41.897452831 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.03sINFOobjective_server_node[2026-08-12 16:21:41.973] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-12 16:21:42.373755608 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396512977 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396551344 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551704.25727797 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551704.91941881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192535 ms (missed cycles : 6).[0m ×2 + 0.17sINFOobjective_server_node[2026-08-12 16:21:41.113] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649901883 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-12 16:21:41.649934613 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sINFOobjective_server_node[2026-08-12 16:21:41.828] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.893653358 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-12 16:21:41.897426293 [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;93m2026-08-12 16:21:41.897452831 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.03sINFOobjective_server_node[2026-08-12 16:21:41.973] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223832 ms (missed cycles : 3).[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-12 16:21:42.373755608 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396512977 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-12 16:21:42.396551344 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274405 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551704.25727797 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308362 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551704.91941881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-12 16:21:45.347] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.254633 ms (missed cycles : 5).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780786 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 25 warnings · 2427 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×393 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×393 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×786 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×786 + 0.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270213 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270213 ms (missed cycles : 2).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740884 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740884 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126725 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126725 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999810 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999810 ms (missed cycles : 3).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551824.65110064 seconds ×3 + 3.80sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.80sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786551825.28552485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390491 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390491 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_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 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOobjective_server_nodeFound path in 5 iterations (0.00625901 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.70sINFOros2_control_node[2026-08-12 16:23:45.555] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-12 16:23:45.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762701 ms (missed cycles : 5). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762701 ms (missed cycles : 5).[0m ×2 + 5.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049592 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.049592 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475880 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475880 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577408 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577408 ms (missed cycles : 4).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316747 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316747 ms (missed cycles : 4).[0m ×2 + 2.75sWARNros2_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 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857367 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857367 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786551857.46572566 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786551858.14520693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809318 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809318 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.69sINFOros2_control_node[2026-08-12 16:24:18.371] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-12 16:24:18.371] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461143 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461143 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981549 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981549 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 6.475880 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475880 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577408 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577408 ms (missed cycles : 4).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316747 ms (missed cycles : 4). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316747 ms (missed cycles : 4).[0m ×2 + 2.75sWARNros2_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 + 2.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857367 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857367 ms (missed cycles : 2).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786551857.46572566 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786551858.14520693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809318 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809318 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.69sINFOros2_control_node[2026-08-12 16:24:18.371] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-12 16:24:18.371] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461143 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461143 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981549 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981549 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-12 16:24:25.325] [info] Accepted new action goal ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569574 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.229271 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-12 16:24:27.189] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487609 ms (missed cycles : 4).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-12 16:24:28.305] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786551868.32078862 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246682 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551868.99119711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-12 16:24:29.165] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319145 ms (missed cycles : 2).[0m ×2 + 4.33sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975064 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533608 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.533608 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663541 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.663541 ms (missed cycles : 5).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419766 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419766 ms (missed cycles : 5).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968020 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968020 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sERRORobjective_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: 1786551879.30167413 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786551879.92684007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238686 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238686 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.49sINFOros2_control_node[2026-08-12 16:24:40.252] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-12 16:24:40.252] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955420 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955420 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189515 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189515 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735253 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735253 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409212 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409212 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_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 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271486 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271486 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103247 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103247 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786551889.84638214 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786551890.45423722 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 (3.02e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.95sINFOros2_control_node[2026-08-12 16:24:50.588] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-12 16:24:50.588] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986249 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986249 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785308 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785308 ms (missed cycles : 4).[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.86sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784345 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_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 + 3.82sERRORobjective_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: 1786551900.80456185 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_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 + 3.82sERRORobjective_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: 1786551900.80456185 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826064 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906684 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 3.81sINFOobjective_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 + 3.82sERRORobjective_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: 1786551900.80456185 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 4.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.22sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 5.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 6.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 6.06sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[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 4.912430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 1.69sINFOobjective_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 + 1.69sERRORobjective_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: 1786551900.80456185 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.93sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3).[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 4.912430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 1.69sINFOobjective_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 + 1.69sERRORobjective_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: 1786551900.80456185 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.93sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3).[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 4.912430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912430 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.085478 ms (missed cycles : 6).[0m ×2 + 1.69sINFOobjective_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 + 1.69sERRORobjective_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: 1786551900.80456185 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350138 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551901.50378966 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551901.58394098 seconds ×3 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551902.18340611 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_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 + 3.09sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551902.20671988 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891961 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551902.91701651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.93sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-08-12 16:25:03.041] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.947846 ms (missed cycles : 6).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850573 ms (missed cycles : 3).[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 4.314333 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314333 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884514 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504750 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995033 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Got request to cancel active goal. ×2 + 3.45sINFOros2_control_node[2026-08-12 16:25:13.307] [info] Canceling active goal... ×2 + 3.46sERRORobjective_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: 1786551913.31209898 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551913.91486478 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184542 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551914.75499177 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603497 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551915.35316420 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.50sINFOobjective_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 + 5.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551915.35558939 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551916.09278440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551916.09323406 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777212 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 | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.8s | 35 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/2026-08-12-16-20-04-560311-df5f8721ada7-8893 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_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. + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547247 ms (missed cycles : 4). + 2.06sINFOros2_control_node-1process started with pid [8941] ×2 + 2.06sINFOmove_group-9process started with pid [8978] ×2 + 2.07sINFOparameter_manager_node-10process started with pid [8979] ×2 + 2.07sINFOwaypoint_manager_node-11process started with pid [8980] ×2 + 2.07sINFOmove_joint_resampler_node-12process started with pid [8981] ×2 + 2.07sINFOmove_end_effector_resampler_node-13process started with pid [8982] ×2 + 2.07sINFOobjective_server_node_main-14process started with pid [8983] ×2 + 2.07sINFOcomponent_container_mt-15process started with pid [8984] ×2 + 2.07sINFOcomponent_container_mt-16process started with pid [8985] ×2 + 2.07sINFOexecute_objective_bridge-17process started with pid [8986] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [8987] ×2 + 2.07sINFOweb_bridge-19process started with pid [8988] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [9052] ×2 + 2.07sINFOvideo_server-21process started with pid [9053] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [9054] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [9055] ×2 + 2.09sINFOros2-2process started with pid [8942] ×2 + 2.09sINFOros2-3process started with pid [8943] ×2 + 2.09sINFOros2-4process started with pid [8944] ×2 + 2.09sINFOros2-5process started with pid [8945] ×2 + 2.09sINFOros2-6process started with pid [8946] ×2 + 2.09sINFOros2-7process started with pid [8947] ×2 + 2.10sINFOros2-8process started with pid [8948] ×2 + 2.15sINFOcontroller_managerReceived robot description from topic. + 2.15sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.15sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.15sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.15sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.16sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.16sWARNros2_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 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547247 ms (missed cycles : 4).[0m ×2 + 2.16sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.16sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.18sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.19sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.39sINFOvideo_server2026/08/12 16:20:07 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.39sINFOvideo_server2026/08/12 16:20:07 INF configuration loaded from /tmp/moveit-webrtc-r41l7f9d/mediamtx.yml ×2 + 2.39sINFOvideo_server2026/08/12 16:20:07 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.39sINFOvideo_server2026/08/12 16:20:07 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.91sINFOmove_group[2026-08-12 16:20:08.218] [moveit_pro_license] [info] ×2 + 2.91sINFOmove_group************************************************* ×4 + 2.91sINFOmove_group* MoveIt Pro License ×2 + 2.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.14sINFOwaypoint_manager_node[2026-08-12 16:20:08.447] [moveit_pro_license] [info] ×2 + 3.14sINFOwaypoint_manager_node************************************************* ×4 + 3.14sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.14sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.920556 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.920556 ms (missed cycles : 5).[0m ×2 + 3.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.26sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.32sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.32sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.33sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.33sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.33sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.34sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.34sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.49sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.50sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.50sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.50sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.54sINFOmove_group ×4 + 3.54sINFOmove_group[92mYou can start planning now![0m ×2 + 3.88sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.88sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.80sINFOobjective_server_node[2026-08-12 16:20:10.113] [moveit_pro_license] [info] ×2 + 4.80sINFOobjective_server_node************************************************* ×4 + 4.80sINFOobjective_server_node* MoveIt Pro License ×2 + 4.80sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.97sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.97sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.98sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.99sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.99sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_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 + 5.17sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.17sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.75sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.76sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.76sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.76sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.76sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.76sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.76sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.76sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.76sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.76sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.76sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.76sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.76sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.76sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 5.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 5.90sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.90sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.91sINFOforce_torque_sensor_broadcasterconfigure successful + 5.91sINFOros2_control_nodeconfigure successful[0m ×2 + 5.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.91sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.92sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.92sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.94sINFOcomponent_container_mt[2026-08-12 16:20:11.256] [moveit_pro_license] [info] ×2 + 5.94sINFOcomponent_container_mt************************************************* ×4 + 5.94sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.94sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2).[0m ×2 + 6.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.25sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.25sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.25sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.25sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.25sINFOros2-2process has finished cleanly [pid 8942] ×2 + 6.26sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 6.26sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 6.26sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.27sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.27sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.30sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.30sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.30sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.30sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.30sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.31sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.31sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.61sWARNobjective_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 + 6.63sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.63sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.63sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 6.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 6.64sINFOros2-3process has finished cleanly [pid 8943] ×2 + 6.70sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.70sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.70sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.70sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.70sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.70sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.70sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.70sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.71sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.71sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.71sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.71sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.71sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.71sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.01sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.05sINFOros2-5process has finished cleanly [pid 8945] ×2 + 7.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 7.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5). + 7.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5).[0m ×2 + 7.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 7.22sINFOros2_control_node[2026-08-12 16:20:12.536] [info] Controller state will be published at 20 Hz. ×2 + 7.22sINFOros2_control_node[2026-08-12 16:20:12.537] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.54sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.54sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.54sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.54sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 7.55sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 7.57sINFOros2-8process has finished cleanly [pid 8948] ×2 + 7.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.59sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.59sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.59sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.59sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.59sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.60sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.92sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.92sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.92sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.94sINFOros2-4process has finished cleanly [pid 8944] ×2 + 7.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 7.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 7.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 8.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 8.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 8.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 8.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 8.04sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.04sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.07sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 8.07sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 8.07sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 8.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 8.44sINFOros2-6process has finished cleanly [pid 8946] ×2 + 8.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 8.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 8.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.53sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 8.53sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.86sINFOros2-7process has finished cleanly [pid 8947] ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 9.66sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 9.92sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 10.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 11.18sWARNros2_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 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 333 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 8948] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.06sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 8944] ×2 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.50sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.53sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.53sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.97sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.97sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.97sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.99sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.99sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOros2-7process has finished cleanly [pid 8947] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 2.38sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 3.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.68sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 5.68sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 386 info |
+ 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 + 0.04sINFOros2-5process has finished cleanly [pid 8945] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5). + 0.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5).[0m ×2 + 0.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-12 16:20:12.536] [info] Controller state will be published at 20 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-12 16:20:12.537] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.56sINFOros2-8process has finished cleanly [pid 8948] ×2 + 0.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.59sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.59sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.60sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.60sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.60sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.92sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOros2-4process has finished cleanly [pid 8944] ×2 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 0.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.04sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.04sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.06sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.06sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 1.07sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2-6process has finished cleanly [pid 8946] ×2 + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 1.53sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.85sINFOros2-7process has finished cleanly [pid 8947] ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 1.91 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 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.21sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 333 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 8948] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.06sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2-4process has finished cleanly [pid 8944] ×2 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.50sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.53sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.53sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.84sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.84sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.92sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.92sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.97sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.97sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.97sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.99sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.99sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sINFOros2-7process has finished cleanly [pid 8947] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 2.38sWARNros2_control_nodeCamera render tick took 1.91 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 + 2.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 3.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_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 + 5.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.68sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 5.68sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 30 warnings · 452 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2).[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.09sINFOros2-2process has finished cleanly [pid 8942] ×2 + 0.09sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.09sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.10sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 8943] ×2 + 0.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.53sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.53sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 8945] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.98sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5). + 1.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5).[0m ×2 + 1.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.05sINFOros2_control_node[2026-08-12 16:20:12.536] [info] Controller state will be published at 20 Hz. ×2 + 1.05sINFOros2_control_node[2026-08-12 16:20:12.537] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 8948] ×2 + 1.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.44sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.77sINFOros2-4process has finished cleanly [pid 8944] ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 1.82sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.82sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.87sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.87sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.87sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 2.27sINFOros2-6process has finished cleanly [pid 8946] ×2 + 2.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 2.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 2.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.69sINFOros2-7process has finished cleanly [pid 8947] ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 3.75sWARNros2_control_nodeCamera render tick took 1.91 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 + 4.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 5.01sWARNros2_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 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.92sINFOobjective_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 + 6.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-12-16-20-04-560311-df5f8721ada7-8893 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_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. + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547247 ms (missed cycles : 4). + 2.06sINFOros2_control_node-1process started with pid [8941] ×2 + 2.06sINFOmove_group-9process started with pid [8978] ×2 + 2.07sINFOparameter_manager_node-10process started with pid [8979] ×2 + 2.07sINFOwaypoint_manager_node-11process started with pid [8980] ×2 + 2.07sINFOmove_joint_resampler_node-12process started with pid [8981] ×2 + 2.07sINFOmove_end_effector_resampler_node-13process started with pid [8982] ×2 + 2.07sINFOobjective_server_node_main-14process started with pid [8983] ×2 + 2.07sINFOcomponent_container_mt-15process started with pid [8984] ×2 + 2.07sINFOcomponent_container_mt-16process started with pid [8985] ×2 + 2.07sINFOexecute_objective_bridge-17process started with pid [8986] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [8987] ×2 + 2.07sINFOweb_bridge-19process started with pid [8988] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [9052] ×2 + 2.07sINFOvideo_server-21process started with pid [9053] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [9054] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [9055] ×2 + 2.09sINFOros2-2process started with pid [8942] ×2 + 2.09sINFOros2-3process started with pid [8943] ×2 + 2.09sINFOros2-4process started with pid [8944] ×2 + 2.09sINFOros2-5process started with pid [8945] ×2 + 2.09sINFOros2-6process started with pid [8946] ×2 + 2.09sINFOros2-7process started with pid [8947] ×2 + 2.10sINFOros2-8process started with pid [8948] ×2 + 2.15sINFOcontroller_managerReceived robot description from topic. + 2.15sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.15sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.15sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.15sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.16sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.16sWARNros2_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 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547247 ms (missed cycles : 4).[0m ×2 + 2.16sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.16sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.18sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.19sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.39sINFOvideo_server2026/08/12 16:20:07 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.39sINFOvideo_server2026/08/12 16:20:07 INF configuration loaded from /tmp/moveit-webrtc-r41l7f9d/mediamtx.yml ×2 + 2.39sINFOvideo_server2026/08/12 16:20:07 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.39sINFOvideo_server2026/08/12 16:20:07 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 30 warnings · 452 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2).[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.09sINFOros2-2process has finished cleanly [pid 8942] ×2 + 0.09sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.09sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.10sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 8943] ×2 + 0.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.53sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.53sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 8945] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.98sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5). + 1.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5).[0m ×2 + 1.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.05sINFOros2_control_node[2026-08-12 16:20:12.536] [info] Controller state will be published at 20 Hz. ×2 + 1.05sINFOros2_control_node[2026-08-12 16:20:12.537] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 8948] ×2 + 1.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.44sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.77sINFOros2-4process has finished cleanly [pid 8944] ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 1.82sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.82sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.87sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.87sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.87sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 2.27sINFOros2-6process has finished cleanly [pid 8946] ×2 + 2.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 2.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 2.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.69sINFOros2-7process has finished cleanly [pid 8947] ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 3.75sWARNros2_control_nodeCamera render tick took 1.91 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 + 4.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 5.01sWARNros2_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 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.92sINFOobjective_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 + 6.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 386 info |
+ 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 + 0.04sINFOros2-5process has finished cleanly [pid 8945] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5). + 0.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5).[0m ×2 + 0.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-12 16:20:12.536] [info] Controller state will be published at 20 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-12 16:20:12.537] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.56sINFOros2-8process has finished cleanly [pid 8948] ×2 + 0.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.59sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.59sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.60sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.60sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.60sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.92sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOros2-4process has finished cleanly [pid 8944] ×2 + 0.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 0.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.04sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.04sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.06sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.06sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 1.07sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 1.44sINFOros2-6process has finished cleanly [pid 8946] ×2 + 1.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 1.53sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.85sINFOros2-7process has finished cleanly [pid 8947] ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 1.91 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 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 4.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.19sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.21sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 6.21sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 30 warnings · 452 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028919 ms (missed cycles : 2).[0m ×2 + 0.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.09sINFOros2-2process has finished cleanly [pid 8942] ×2 + 0.09sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.09sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.10sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 8943] ×2 + 0.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.53sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.53sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.54sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 8945] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.98sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5). + 1.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673710 ms (missed cycles : 5).[0m ×2 + 1.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.05sINFOros2_control_node[2026-08-12 16:20:12.536] [info] Controller state will be published at 20 Hz. ×2 + 1.05sINFOros2_control_node[2026-08-12 16:20:12.537] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.40sINFOros2-8process has finished cleanly [pid 8948] ×2 + 1.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.44sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.44sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.77sINFOros2-4process has finished cleanly [pid 8944] ×2 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551613.29153013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551613.30171967 seconds ×3 + 1.82sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 1.82sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 1.87sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.87sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.87sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.87sINFOros2_control_node[2026-08-12 16:20:13.357] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.381] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.381] [info] Controller state will be published at 50 Hz. ×2 + 1.90sINFOros2_control_node[2026-08-12 16:20:13.386] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 2.27sINFOros2-6process has finished cleanly [pid 8946] ×2 + 2.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 2.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [0m ×2 + 2.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.36sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.69sINFOros2-7process has finished cleanly [pid 8947] ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 3.75sWARNros2_control_nodeCamera render tick took 1.91 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 + 4.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 5.01sWARNros2_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 + 5.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.92sINFOobjective_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 + 6.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[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 · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 258 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 + 7.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.32sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.34sINFOros2_control_node[2026-08-12 16:20:21.037] [info] Received new action goal ×2 + 7.34sINFOros2_control_node[2026-08-12 16:20:21.037] [info] Accepted new action goal ×2 + 7.40sINFOros2_control_nodeMuJoCo sim: 0.12% 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/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023834 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 8946] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yhmd30oi --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_6lczoako --params-file /tmp/launch_params_tp2c0bws [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 ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.844] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:20:13.845] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551613.90996170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.47sINFOros2-7process has finished cleanly [pid 8947] ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873647 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551614.97009826 seconds ×3 + 1.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.91 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 + 1.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551615.58192110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551615.64207530 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347428 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551616.29352403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551616.31363988 seconds ×3 + 2.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551616.95785999 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 5.755264 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755264 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551617.10844016 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551617.75414634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551617.79426908 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085095 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551618.39236045 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.9687e-05 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-12 16:20:18.529] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725559 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711280 ms (missed cycles : 2).[0m ×2 | ||||