116
Total objective tests
33
Objectives passed
0
Objectives failed
83
Objectives skipped
9.7s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 165 warnings · 18870 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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-12 16:23:26.036] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-12 16:23:26.036] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676132 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676132 ms (missed cycles : 2).[0m ×2 + 0.91sWARNros2_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 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900760 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900760 ms (missed cycles : 3).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703149 ms (missed cycles : 6). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703149 ms (missed cycles : 6).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786551809.64104486 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125547 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125547 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551810.24909878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.52sINFOros2_control_node[2026-08-12 16:23:30.436] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-12 16:23:30.436] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.394310 ms (missed cycles : 7). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.394310 ms (missed cycles : 7).[0m ×2 + 5.79sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371966 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371966 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986124 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986124 ms (missed cycles : 2).[0m ×2 + 8.07sINFOjoint_trajectory_controllerReceived new action goal ×3103 + 8.07sINFOjoint_trajectory_controllerAccepted new action goal ×3103 + 8.07sINFOros2_control_nodeReceived new action goal[0m ×6206 + 8.07sINFOros2_control_nodeAccepted new action goal[0m ×6206 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352548 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352548 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241615 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241615 ms (missed cycles : 3).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904716 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904716 ms (missed cycles : 2).[0m ×2 + 11.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007116 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007116 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835849 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835849 ms (missed cycles : 2).[0m ×2 + 12.86sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.86sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.86sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.86sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.86sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837769 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837769 ms (missed cycles : 2).[0m ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790318 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790318 ms (missed cycles : 2).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585468 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585468 ms (missed cycles : 2).[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809769 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809769 ms (missed cycles : 2).[0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971504 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971504 ms (missed cycles : 2).[0m ×2 + 18.27sWARNros2_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 ×4 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529844 ms (missed cycles : 2). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529844 ms (missed cycles : 2).[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263962 ms (missed cycles : 4). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263962 ms (missed cycles : 4).[0m ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232876 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232876 ms (missed cycles : 3).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762992 ms (missed cycles : 2). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762992 ms (missed cycles : 2).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723313 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723313 ms (missed cycles : 2).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712752 ms (missed cycles : 3). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712752 ms (missed cycles : 3).[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325482 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325482 ms (missed cycles : 2).[0m ×2 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718017 ms (missed cycles : 2). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718017 ms (missed cycles : 2).[0m ×2 + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766641 ms (missed cycles : 2). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766641 ms (missed cycles : 2).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558100 ms (missed cycles : 5). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558100 ms (missed cycles : 5).[0m ×2 + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713648 ms (missed cycles : 2). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713648 ms (missed cycles : 2).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800128 ms (missed cycles : 2). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800128 ms (missed cycles : 2).[0m ×2 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482204 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482204 ms (missed cycles : 2).[0m ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719114 ms (missed cycles : 2). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719114 ms (missed cycles : 2).[0m ×2 + 32.20sWARNros2_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 ×4 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776809 ms (missed cycles : 2). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776809 ms (missed cycles : 2).[0m ×2 + 34.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454110 ms (missed cycles : 2). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454110 ms (missed cycles : 2).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063460 ms (missed cycles : 2). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063460 ms (missed cycles : 2).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608968 ms (missed cycles : 2). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608968 ms (missed cycles : 2).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219988 ms (missed cycles : 4). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219988 ms (missed cycles : 4).[0m ×2 + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892191 ms (missed cycles : 2). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892191 ms (missed cycles : 2).[0m ×2 + 39.18sWARNros2_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 + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681853 ms (missed cycles : 2). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681853 ms (missed cycles : 2).[0m ×2 + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047131 ms (missed cycles : 4). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047131 ms (missed cycles : 4).[0m ×2 + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367223 ms (missed cycles : 2). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367223 ms (missed cycles : 2).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370297 ms (missed cycles : 4). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.370297 ms (missed cycles : 4).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.145246 ms (missed cycles : 8). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.145246 ms (missed cycles : 8).[0m ×2 + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695777 ms (missed cycles : 2). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695777 ms (missed cycles : 2).[0m ×2 + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734816 ms (missed cycles : 2). + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734816 ms (missed cycles : 2).[0m ×2 + 46.21sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318613 ms (missed cycles : 5). + 46.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318613 ms (missed cycles : 5).[0m ×2 + 47.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149317 ms (missed cycles : 3). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149317 ms (missed cycles : 3).[0m ×2 + 48.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551854.06532645 seconds ×3 + 48.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034616 ms (missed cycles : 2). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034616 ms (missed cycles : 2).[0m ×2 + 48.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551854.70327663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.84sINFOobjective_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 + 48.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.95sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 48.95sINFOros2_control_node[2026-08-12 16:24:14.867] [info] Received new action goal ×2 + 48.96sINFOros2_control_node[2026-08-12 16:24:14.867] [info] Accepted new action goal ×2 + 49.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868439 ms (missed cycles : 2). + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868439 ms (missed cycles : 2).[0m ×2 + 50.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866598 ms (missed cycles : 2). + 50.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866598 ms (missed cycles : 2).[0m ×2 + 51.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.1s | 166 warnings · 293 info |
+ 0.00sINFOobjective_server_node[2026-08-12 16:22:31.643] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189192433 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189223046 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-12 16:22:32.353] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.404915453 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407974722 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407996647 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-12 16:22:32.477] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-12 16:22:32.869271481 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896777954 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896807469 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551754.75642014 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551755.42564297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 7.11sINFOros2_control_node[2026-08-12 16:22:38.750] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-08-12 16:22:38.750] [info] Accepted new action goal ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757785 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757785 ms (missed cycles : 3).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458878 ms (missed cycles : 6). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458878 ms (missed cycles : 6).[0m ×2 + 8.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899449 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899449 ms (missed cycles : 2).[0m ×2 + 10.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.28sINFOros2_control_node[2026-08-12 16:22:41.924] [info] Received new action goal ×2 + 10.28sINFOros2_control_node[2026-08-12 16:22:41.924] [info] Accepted new action goal ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444272 ms (missed cycles : 6). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444272 ms (missed cycles : 6).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.187350 ms (missed cycles : 7). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.187350 ms (missed cycles : 7).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939831 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939831 ms (missed cycles : 3).[0m ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (4.74e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.31sINFOros2_control_node[2026-08-12 16:22:44.953] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-08-12 16:22:44.953] [info] Accepted new action goal ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148042 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148042 ms (missed cycles : 3).[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906120 ms (missed cycles : 5). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906120 ms (missed cycles : 5).[0m ×2 + 15.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493916 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493916 ms (missed cycles : 3).[0m ×2 + 16.27sINFOobjective_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 + 16.27sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.27sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671210 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671210 ms (missed cycles : 2).[0m ×2 + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685295 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685295 ms (missed cycles : 2).[0m ×2 + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488220 ms (missed cycles : 3). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488220 ms (missed cycles : 3).[0m ×2 + 20.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131870 ms (missed cycles : 2). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131870 ms (missed cycles : 2).[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373080 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373080 ms (missed cycles : 2).[0m ×2 + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067693 ms (missed cycles : 5). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.067693 ms (missed cycles : 5).[0m ×2 + 23.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.82sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.82sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.83sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.83sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072125 ms (missed cycles : 4). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072125 ms (missed cycles : 4).[0m ×2 + 24.72sINFOros2_control_node[2026-08-12 16:22:56.358] [info] Received new action goal ×2 + 24.72sINFOros2_control_node[2026-08-12 16:22:56.358] [info] Accepted new action goal ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607776 ms (missed cycles : 3). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607776 ms (missed cycles : 3).[0m ×2 + 25.90sINFOobjective_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 + 25.91sINFOobjective_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 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835976 ms (missed cycles : 2). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835976 ms (missed cycles : 2).[0m ×2 + 26.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 26.24sINFOros2_control_node[2026-08-12 16:22:57.882] [info] Received new action goal ×2 + 26.24sINFOros2_control_node[2026-08-12 16:22:57.882] [info] Accepted new action goal ×2 + 26.37sWARNros2_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 + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423370 ms (missed cycles : 2). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423370 ms (missed cycles : 2).[0m ×2 + 28.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777467 ms (missed cycles : 2). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777467 ms (missed cycles : 2).[0m ×2 + 28.53sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 28.54sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.55sINFOros2_control_node[2026-08-12 16:23:00.190] [info] Received new action goal ×2 + 28.55sINFOros2_control_node[2026-08-12 16:23:00.190] [info] Accepted new action goal ×2 + 29.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299935 ms (missed cycles : 2). + 29.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299935 ms (missed cycles : 2).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008134 ms (missed cycles : 7). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008134 ms (missed cycles : 7).[0m ×2 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751495 ms (missed cycles : 3). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751495 ms (missed cycles : 3).[0m ×2 + 31.40sWARNros2_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 + 31.59sINFOros2_control_node[2026-08-12 16:23:03.229] [info] Received new action goal ×2 + 31.59sINFOros2_control_node[2026-08-12 16:23:03.229] [info] Accepted new action goal ×2 + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.894542 ms (missed cycles : 6). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.894542 ms (missed cycles : 6).[0m ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397770 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397770 ms (missed cycles : 2).[0m ×2 + 34.18sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 34.19sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.24sINFOros2_control_node[2026-08-12 16:23:05.882] [info] Received new action goal ×2 + 34.24sINFOros2_control_node[2026-08-12 16:23:05.882] [info] Accepted new action goal ×2 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465044 ms (missed cycles : 2). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465044 ms (missed cycles : 2).[0m ×2 + 35.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281858 ms (missed cycles : 2). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281858 ms (missed cycles : 2).[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289342 ms (missed cycles : 4). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289342 ms (missed cycles : 4).[0m ×2 + 38.19sWARNros2_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 + 38.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621666 ms (missed cycles : 3). + 38.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621666 ms (missed cycles : 3).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.630099 ms (missed cycles : 6). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.630099 ms (missed cycles : 6).[0m ×2 + 40.48sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684236 ms (missed cycles : 5). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.684236 ms (missed cycles : 5).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111646 ms (missed cycles : 2). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.111646 ms (missed cycles : 2).[0m ×2 + 42.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838365 ms (missed cycles : 2). + 42.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838365 ms (missed cycles : 2).[0m ×2 + 43.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906406 ms (missed cycles : 2). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906406 ms (missed cycles : 2).[0m ×2 + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208476 ms (missed cycles : 4). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208476 ms (missed cycles : 4).[0m ×2 + 44.90sINFOros2_control_node[2026-08-12 16:23:16.539] [info] Received new action goal ×2 + 44.90sINFOros2_control_node[2026-08-12 16:23:16.539] [info] Accepted new action goal ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588007 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588007 ms (missed cycles : 2).[0m ×2 + 46.05sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786551797.69527626 seconds ×3 + 46.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988339 ms (missed cycles : 2). + 46.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988339 ms (missed cycles : 2).[0m ×2 + 47.07sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786551798.71089578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988544 ms (missed cycles : 2). + 47.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988544 ms (missed cycles : 2).[0m ×2 + 48.24sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 48.24sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.26sINFOros2_control_node[2026-08-12 16:23:19.906] [info] Received new action goal ×2 + 48.26sINFOros2_control_node[2026-08-12 16:23:19.907] [info] Accepted new action goal ×2 + 48.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187799 ms (missed cycles : 5). + 48.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187799 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.1s | 120 warnings · 2603 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×398 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×398 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×796 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899794 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899794 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681990 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681990 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164181 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164181 ms (missed cycles : 2).[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039708 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039708 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551876.18821764 seconds ×3 + 3.90sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.90sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786551876.82597256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOobjective_server_nodeFound path in 5 iterations (0.00591811 s). ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-12 16:24:37.082] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-12 16:24:37.082] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248306 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248306 ms (missed cycles : 4).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476149 ms (missed cycles : 4). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476149 ms (missed cycles : 4).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744803 ms (missed cycles : 4). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744803 ms (missed cycles : 4).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017321 ms (missed cycles : 4). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017321 ms (missed cycles : 4).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312485 ms (missed cycles : 5). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312485 ms (missed cycles : 5).[0m ×2 + 10.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×6 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773015 ms (missed cycles : 2). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773015 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.857406 ms (missed cycles : 6). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.857406 ms (missed cycles : 6).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865143 ms (missed cycles : 3). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865143 ms (missed cycles : 3).[0m ×2 + 14.03sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205198 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205198 ms (missed cycles : 2).[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752021 ms (missed cycles : 2). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752021 ms (missed cycles : 2).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134266 ms (missed cycles : 5). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134266 ms (missed cycles : 5).[0m ×2 + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480451 ms (missed cycles : 4). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.480451 ms (missed cycles : 4).[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041978 ms (missed cycles : 4). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041978 ms (missed cycles : 4).[0m ×2 + 19.16sINFOobjective_server_nodeFound path in 4 iterations (0.00610451 s). ×2 + 19.25sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.28sINFOobjective_server_nodeFound path in 13 iterations (0.00595981 s). ×2 + 19.34sINFOobjective_server_nodePath shortcutter: [X_________________________________X__________________________X] ×2 + 19.37sINFOobjective_server_nodeFound path in 2 iterations (0.00483358 s). ×2 + 19.44sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 19.46sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 19.49sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.51sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 19.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 19.57sINFOobjective_server_nodeFound path in 12 iterations (0.00697884 s). ×2 + 19.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 19.66sINFOobjective_server_nodeFound path in 1 iterations (0.00436714 s). ×2 + 19.71sINFOobjective_server_nodePath shortcutter: [X_______________________________X_____________________X] ×2 + 19.75sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 19.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.81sINFOobjective_server_nodeFound path in 4 iterations (0.00599298 s). ×2 + 19.90sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.94sINFOobjective_server_nodeFound path in 4 iterations (0.00313121 s). ×2 + 20.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 20.06sINFOobjective_server_nodeFound path in 1 iterations (0.00535984 s). ×2 + 20.12sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 20.16sINFOobjective_server_nodeFound path in 26 iterations (0.0119275 s). ×2 + 20.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_____________________X] ×2 + 20.27sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417177 ms (missed cycles : 2). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417177 ms (missed cycles : 2).[0m ×2 + 20.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.36sINFOobjective_server_nodeFound path in 0 iterations (6.54e-07 s). ×2 + 20.46sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 20.51sINFOobjective_server_nodeFound path in 1 iterations (0.00617125 s). ×2 + 20.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________X_________X] ×2 + 20.69sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 20.79sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 21.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.02sINFOros2_control_node[2026-08-12 16:24:53.315] [info] Received new action goal ×2 + 21.02sINFOros2_control_node[2026-08-12 16:24:53.315] [info] Accepted new action goal ×2 + 21.47sWARNros2_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 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328294 ms (missed cycles : 2). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328294 ms (missed cycles : 2).[0m ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.412292 ms (missed cycles : 6). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.412292 ms (missed cycles : 6).[0m ×2 + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615933 ms (missed cycles : 4). + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615933 ms (missed cycles : 4).[0m ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628504 ms (missed cycles : 2). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628504 ms (missed cycles : 2).[0m ×2 + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825675 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825675 ms (missed cycles : 3).[0m ×2 + 26.02sINFOros2_control_node[2026-08-12 16:24:58.317] [info] Received new action goal ×2 + 26.02sINFOros2_control_node[2026-08-12 16:24:58.317] [info] Accepted new action goal ×2 + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029210 ms (missed cycles : 2). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029210 ms (missed cycles : 2).[0m ×2 + 27.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 27.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 27.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.56sINFOros2_control_node[2026-08-12 16:24:59.850] [info] Received new action goal ×2 + 27.56sINFOros2_control_node[2026-08-12 16:24:59.851] [info] Accepted new action goal ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063959 ms (missed cycles : 4). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063959 ms (missed cycles : 4).[0m ×2 + 28.76sWARNobjective_server_nodePlan up-over-down Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.76sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.81sINFOros2_control_node[2026-08-12 16:25:01.101] [info] Received new action goal ×2 + 28.81sINFOros2_control_node[2026-08-12 16:25:01.101] [info] Accepted new action goal ×2 + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028680 ms (missed cycles : 2). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028680 ms (missed cycles : 2).[0m ×2 + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364854 ms (missed cycles : 2). + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364854 ms (missed cycles : 2).[0m ×2 + 31.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360769 ms (missed cycles : 4). + 31.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360769 ms (missed cycles : 4).[0m ×2 + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444882 ms (missed cycles : 6). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444882 ms (missed cycles : 6).[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983227 ms (missed cycles : 3). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983227 ms (missed cycles : 3).[0m ×2 + 33.99sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786551906.28617764 seconds ×3 + 34.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786551906.96724224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601806 ms (missed cycles : 2). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601806 ms (missed cycles : 2).[0m ×2 + 34.90sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 34.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.91sINFOros2_control_node[2026-08-12 16:25:07.201] [info] Received new action goal ×2 + 34.91sINFOros2_control_node[2026-08-12 16:25:07.201] [info] Accepted new action goal ×2 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191319 ms (missed cycles : 4). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191319 ms (missed cycles : 4).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771143 ms (missed cycles : 6). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771143 ms (missed cycles : 6).[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 | 97 warnings · 13522 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2227 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2227 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4454 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4454 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695777 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695777 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734816 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734816 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_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 + 1.95sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318613 ms (missed cycles : 5). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318613 ms (missed cycles : 5).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149317 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149317 ms (missed cycles : 3).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.88sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551854.06532645 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034616 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034616 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551854.70327663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.69sINFOros2_control_node[2026-08-12 16:24:14.867] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-12 16:24:14.867] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868439 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868439 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.00sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 6.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 6.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866598 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866598 ms (missed cycles : 2).[0m ×2 + 6.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991395 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991395 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792761 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792761 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700278 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700278 ms (missed cycles : 2).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797987 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797987 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521142 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521142 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407399 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407399 ms (missed cycles : 2).[0m ×2 + 12.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566310 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566310 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796864 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796864 ms (missed cycles : 2).[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778281 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778281 ms (missed cycles : 2).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011292 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011292 ms (missed cycles : 2).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034902 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034902 ms (missed cycles : 2).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113499 ms (missed cycles : 2). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113499 ms (missed cycles : 2).[0m ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708095 ms (missed cycles : 2). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708095 ms (missed cycles : 2).[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666692 ms (missed cycles : 2). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666692 ms (missed cycles : 2).[0m ×2 + 20.84sWARNros2_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 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657752 ms (missed cycles : 4). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657752 ms (missed cycles : 4).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899794 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899794 ms (missed cycles : 2).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681990 ms (missed cycles : 2). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681990 ms (missed cycles : 2).[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164181 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164181 ms (missed cycles : 2).[0m ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039708 ms (missed cycles : 3). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039708 ms (missed cycles : 3).[0m ×2 + 26.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551876.18821764 seconds ×3 + 26.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786551876.82597256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.82sINFOobjective_server_nodeFound path in 5 iterations (0.00591811 s). ×2 + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2).[0m ×2 + 26.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 26.89sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.91sINFOros2_control_node[2026-08-12 16:24:37.082] [info] Received new action goal ×2 + 26.91sINFOros2_control_node[2026-08-12 16:24:37.082] [info] Accepted new action goal ×2 + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248306 ms (missed cycles : 4). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248306 ms (missed cycles : 4).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476149 ms (missed cycles : 4). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476149 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.3s | 3 errors · 77 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1786551680.10664964 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348279 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348279 ms (missed cycles : 3).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550219 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550219 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730776 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730776 ms (missed cycles : 2).[0m ×2 + 10.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145949 ms (missed cycles : 5). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145949 ms (missed cycles : 5).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925133 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925133 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201211 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201211 ms (missed cycles : 2).[0m ×2 + 13.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 13.69sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.70sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 13.72sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 13.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.79sINFOobjective_server_nodeFound path in 1 iterations (0.00321621 s). ×2 + 13.90sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.98sINFOros2_control_node[2026-08-12 16:21:31.451] [info] Received new action goal ×2 + 13.98sINFOros2_control_node[2026-08-12 16:21:31.451] [info] Accepted new action goal ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643208 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643208 ms (missed cycles : 2).[0m ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933553 ms (missed cycles : 4). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933553 ms (missed cycles : 4).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129125 ms (missed cycles : 5). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129125 ms (missed cycles : 5).[0m ×2 + 16.37sWARNros2_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 + 16.45sINFOros2_control_node[2026-08-12 16:21:33.924] [info] Received new action goal ×2 + 16.45sINFOros2_control_node[2026-08-12 16:21:33.924] [info] Accepted new action goal ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6).[0m ×2 + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3).[0m ×2 + 18.35sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 18.35sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.37sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Received new action goal ×2 + 18.37sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Accepted new action goal ×2 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3).[0m ×2 + 19.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551697.22348714 seconds ×3 + 20.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551697.83893633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2).[0m ×2 + 20.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551697.92906547 seconds ×3 + 21.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551698.56233764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.20sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 21.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.22sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Received new action goal ×2 + 21.22sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Accepted new action goal ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860465 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860465 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 0.04sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.05sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00336087 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.36sINFOros2_control_node[2026-08-12 16:22:08.230] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-08-12 16:22:08.230] [info] Accepted new action goal ×2 + 0.79sINFOros2_control_node[2026-08-12 16:22:08.662] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-12 16:22:08.662] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878820 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878820 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073696 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073696 ms (missed cycles : 2).[0m ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.21sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sERRORobjective_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: 1786551731.10804796 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289547 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289547 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786551731.90521383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.21sINFOros2_control_node[2026-08-12 16:22:12.079] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:22:12.079] [info] Accepted new action goal ×2 + 4.25sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117642 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117642 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933887 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933887 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893201 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893201 ms (missed cycles : 3).[0m ×2 + 6.75sINFOros2_control_node[2026-08-12 16:22:14.625] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-08-12 16:22:14.625] [info] Accepted new action goal ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213305 ms (missed cycles : 5). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.213305 ms (missed cycles : 5).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901973 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901973 ms (missed cycles : 2).[0m ×2 + 9.01sWARNros2_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 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597887 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597887 ms (missed cycles : 3).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146455 ms (missed cycles : 2). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146455 ms (missed cycles : 2).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849955 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849955 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468986 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468986 ms (missed cycles : 2).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558015 ms (missed cycles : 4). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558015 ms (missed cycles : 4).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094718 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094718 ms (missed cycles : 2).[0m ×2 + 15.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 15.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786551743.19445515 seconds ×3 + 15.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551743.85818028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2).[0m ×2 + 16.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551743.92832351 seconds ×3 + 16.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551744.52729821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.76sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 16.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.78sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Received new action goal ×2 + 16.78sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Accepted new action goal ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 65 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838365 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838365 ms (missed cycles : 2).[0m ×2 + 0.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906406 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906406 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.45sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.45sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.45sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.45sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208476 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208476 ms (missed cycles : 4).[0m ×2 + 2.32sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.33sINFOros2_control_node[2026-08-12 16:23:16.539] [info] Received new action goal ×2 + 2.33sINFOros2_control_node[2026-08-12 16:23:16.539] [info] Accepted new action goal ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588007 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588007 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786551797.69527626 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988339 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988339 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786551798.71089578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988544 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988544 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.70sINFOros2_control_node[2026-08-12 16:23:19.906] [info] Received new action goal ×2 + 5.70sINFOros2_control_node[2026-08-12 16:23:19.907] [info] Accepted new action goal ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187799 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187799 ms (missed cycles : 5).[0m ×2 + 6.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198915 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198915 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015684 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015684 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296446 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296446 ms (missed cycles : 2).[0m ×2 + 9.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.41sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.41sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.41sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.41sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854122 ms (missed cycles : 4). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854122 ms (missed cycles : 4).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832657 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832657 ms (missed cycles : 2).[0m ×2 + 11.81sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 11.82sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.83sINFOros2_control_node[2026-08-12 16:23:26.036] [info] Received new action goal ×2 + 11.83sINFOros2_control_node[2026-08-12 16:23:26.036] [info] Accepted new action goal ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676132 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676132 ms (missed cycles : 2).[0m ×2 + 12.61sWARNros2_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 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900760 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900760 ms (missed cycles : 3).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703149 ms (missed cycles : 6). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703149 ms (missed cycles : 6).[0m ×2 + 15.43sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786551809.64104486 seconds ×3 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125547 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125547 ms (missed cycles : 2).[0m ×2 + 16.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551810.24909878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.21sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 16.21sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.23sINFOros2_control_node[2026-08-12 16:23:30.436] [info] Received new action goal ×2 + 16.23sINFOros2_control_node[2026-08-12 16:23:30.436] [info] Accepted new action goal ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.394310 ms (missed cycles : 7). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.394310 ms (missed cycles : 7).[0m ×2 + 17.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.50sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371966 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371966 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 59 errors · 42 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4).[0m ×2 + 1.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Got request to cancel active goal. ×2 + 1.51sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Canceling active goal... ×2 + 1.51sERRORobjective_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: 1786551961.98478794 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551962.58366823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551963.21379638 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551963.81543827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.34sINFOobjective_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 + 3.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551963.81738019 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551964.51724672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551964.51772380 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786551965.11440682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272551 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272551 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786551966.28453660 seconds ×3 + 5.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530996 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530996 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194386 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194386 ms (missed cycles : 2).[0m ×2 + 8.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432561 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432561 ms (missed cycles : 4).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.756152 ms (missed cycles : 7). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.756152 ms (missed cycles : 7).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895181 ms (missed cycles : 5). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.895181 ms (missed cycles : 5).[0m ×2 + 11.34sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.37sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORweb_video_auth_proxy-23process has died [pid 9090, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.38sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.40sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORweb_bridge_auth_proxy-22process has died [pid 9089, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.41sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.45sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.46sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.47sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.48sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.49sINFOvideo_server-21process has finished cleanly [pid 9088] ×2 + 11.50sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.51sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.52sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.52sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.54sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.56sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.57sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.58sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.59sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.61sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.61sINFOcontroller_managerShutdown request received.... + 11.61sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.61sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.61sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.61sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.61sINFOvideo_server2026/08/12 16:26:11 INF shutting down gracefully ×2 + 11.61sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.61sINFOvideo_server2026/08/12 16:26:11 INF [WebRTC] closing ×2 + 11.61sINFOvideo_server2026/08/12 16:26:11 INF [RTSP] closing ×2 + 11.61sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.61sINFOvideo_server2026/08/12 16:26:11 INF waiting for running hooks ×2 + 11.61sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.61sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.61sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.61sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.61sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.61sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.61sINFOcontroller_managerShutting down the controller manager. + 11.61sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.61sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.62sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.62sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.62sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.62sERRORmove_groupStack trace (most recent call last) in thread 9324: ×2 + 11.62sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.62sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.62sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4300df8a63, in __clone ×2 + 11.62sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4300d6baa3, in ×2 + 11.62sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4300ffddb3, in ×2 + 11.62sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f430176e637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.62sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f430138f620, in rclcpp::Rate::sleep() ×2 + 11.62sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f43012d1d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.62sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4301293087, in ×2 + 11.62sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4300fcc390, in __cxa_throw ×2 + 11.62sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4300fb6a54, in std::terminate() ×2 + 11.62sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4300fcc0d9, in ×2 + 11.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.62sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.62sERRORmove_group-9process has died [pid 9013, 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_ugc4lkdb --params-file /tmp/launch_params_9t4l765p --params-file /tmp/launch_params_t4xr6nae --params-file /tmp/launch_params_nlyebkc4 --params-file /tmp/launch_params_8o10pryb --params-file /tmp/launch_params_awlewpef']. ×2 + 11.62sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4300fb6ff4, in ×2 + 11.63sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4300cf78fe, in abort ×2 + 11.63sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4300d1427d, in raise ×2 + 11.63sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4300d6db2c, in pthread_kill ×2 + 11.63sERRORmove_groupAborted (Signal sent by tkill() 9013 0) ×2 + 11.63sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.63sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.63sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.63sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.63sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.63sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.63sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.63sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.63sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.65sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.82sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.82sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.82sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.50sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9087] ×2 + 12.50sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.59sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9017] ×2 + 12.60sINFOui_teleop_bridge-18process has finished cleanly [pid 9022] ×2 + 12.60sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9016] ×2 + 12.60sINFOexecute_objective_bridge-17process has finished cleanly [pid 9021] ×2 + 12.61sINFOcomponent_container_mt-16process has finished cleanly [pid 9020] ×2 + 12.64sINFOwaypoint_manager_node-11process has finished cleanly [pid 9015] ×2 + 12.67sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.67sINFOparameter_manager_node-10process has finished cleanly [pid 9014] ×2 + 12.78sINFOobjective_server_node[0;m[2026-08-12 16:26:13.258] [moveit_pro_license] [info] ×2 + 12.78sINFOobjective_server_node************************************************* ×4 + 12.78sINFOobjective_server_node* MoveIt Pro License ×2 + 12.78sINFOobjective_server_node* Application has successfully terminated ×2 + 13.24sINFOobjective_server_node_main-14process has finished cleanly [pid 9018] ×2 + 13.24sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.72sINFOcomponent_container_mt-15process has finished cleanly [pid 9019] ×2 + 13.94sINFOweb_bridge-19process has finished cleanly [pid 9023] ×2 + 13.94sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.26sINFOros2_control_node-1process has finished cleanly [pid 8976] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481145 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481145 ms (missed cycles : 4).[0m ×2 + 0.31sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.59sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.59sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.59sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786551717.02626395 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550031 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550031 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380097 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380097 ms (missed cycles : 2).[0m ×2 + 2.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866164 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866164 ms (missed cycles : 2).[0m ×2 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786551720.60376096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484651 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484651 ms (missed cycles : 4).[0m ×2 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.40sINFOros2_control_node[2026-08-12 16:22:00.818] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-12 16:22:00.818] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094281 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094281 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651562 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651562 ms (missed cycles : 5).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855641 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855641 ms (missed cycles : 2).[0m ×2 + 7.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.79sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (6.04e-07 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (6.24e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 1 iterations (0.00280705 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143924 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143924 ms (missed cycles : 2).[0m ×2 + 8.33sINFOobjective_server_nodeFound path in 1 iterations (0.00423749 s). ×2 + 8.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 8.42sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (7.43e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.81sINFOros2_control_node[2026-08-12 16:22:05.221] [info] Received new action goal ×2 + 8.81sINFOros2_control_node[2026-08-12 16:22:05.221] [info] Accepted new action goal ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328867 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328867 ms (missed cycles : 2).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473014 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473014 ms (missed cycles : 2).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860465 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860465 ms (missed cycles : 2).[0m ×2 + 11.50sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 11.50sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.51sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.52sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.61sINFOobjective_server_nodeFound path in 1 iterations (0.00336087 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.82sINFOros2_control_node[2026-08-12 16:22:08.230] [info] Received new action goal ×2 + 11.82sINFOros2_control_node[2026-08-12 16:22:08.230] [info] Accepted new action goal ×2 + 12.25sINFOros2_control_node[2026-08-12 16:22:08.662] [info] Received new action goal ×2 + 12.25sINFOros2_control_node[2026-08-12 16:22:08.662] [info] Accepted new action goal ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878820 ms (missed cycles : 5). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878820 ms (missed cycles : 5).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073696 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073696 ms (missed cycles : 2).[0m ×2 + 14.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.67sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.67sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.67sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.69sERRORobjective_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: 1786551731.10804796 seconds ×3 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289547 ms (missed cycles : 4). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289547 ms (missed cycles : 4).[0m ×2 + 15.49sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786551731.90521383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.66sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 15.66sINFOros2_control_node[2026-08-12 16:22:12.079] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-08-12 16:22:12.079] [info] Accepted new action goal ×2 + 15.70sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117642 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117642 ms (missed cycles : 2).[0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933887 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933887 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 63 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786551949.48763323 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.42sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 4.08sWARNros2_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 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055889 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055889 ms (missed cycles : 2).[0m ×2 + 8.19sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 8.19sINFOros2_control_node[2026-08-12 16:25:55.013] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-08-12 16:25:55.013] [info] Accepted new action goal ×2 + 8.19sINFOros2_control_node[2026-08-12 16:25:55.014] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752259 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752259 ms (missed cycles : 2).[0m ×2 + 9.19sWARNros2_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 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449563 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449563 ms (missed cycles : 3).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021213 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021213 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002034 ms (missed cycles : 5). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002034 ms (missed cycles : 5).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2).[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4).[0m ×2 + 15.16sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Got request to cancel active goal. ×2 + 15.16sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Canceling active goal... ×2 + 15.16sERRORobjective_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: 1786551961.98478794 seconds ×3 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6).[0m ×2 + 15.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551962.58366823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551963.21379638 seconds ×3 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2).[0m ×2 + 16.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551963.81543827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.99sINFOobjective_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 + 16.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551963.81738019 seconds ×3 + 17.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551964.51724672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551964.51772380 seconds ×3 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sWARNros2_control_nodeCamera render tick took 1.88 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 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776884 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776884 ms (missed cycles : 4).[0m ×2 + 6.39sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.56sINFOros2_control_node[2026-08-12 16:21:12.289] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-08-12 16:21:12.289] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662672 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662672 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807763 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807763 ms (missed cycles : 3).[0m ×2 + 9.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936332 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936332 ms (missed cycles : 3).[0m ×2 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 10.32sINFOros2_control_node[2026-08-12 16:21:16.040] [info] Received new action goal ×2 + 10.32sINFOros2_control_node[2026-08-12 16:21:16.040] [info] Accepted new action goal ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673297 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673297 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 13.62sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 13.63sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.65sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 13.65sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 14.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.36sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 14.36sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 14.38sERRORobjective_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: 1786551680.10664964 seconds ×3 + 14.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 15.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.95sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 15.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.96sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 15.96sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 60 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3).[0m ×2 + 1.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551697.22348714 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551697.83893633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551697.92906547 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551698.56233764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4).[0m ×2 + 5.02sWARNros2_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 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7).[0m ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815926 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815926 ms (missed cycles : 2).[0m ×2 + 7.24sINFOros2_control_node[2026-08-12 16:21:42.042] [info] Received new action goal ×2 + 7.24sINFOros2_control_node[2026-08-12 16:21:42.042] [info] Accepted new action goal ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692018 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692018 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454845 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454845 ms (missed cycles : 4).[0m ×2 + 9.58sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 9.59sINFOros2_control_node[2026-08-12 16:21:44.394] [info] Received new action goal ×2 + 9.59sINFOros2_control_node[2026-08-12 16:21:44.394] [info] Accepted new action goal ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 11.95sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 11.95sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 14.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.20sERRORobjective_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: 1786551709.00251460 seconds ×3 + 14.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.05sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 17.18sWARNros2_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 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[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 5.018012 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018012 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129168 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129168 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059441 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059441 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664257 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664257 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786551938.52505398 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.55sWARNros2_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 + 3.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786551939.12731624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-08-12 16:25:39.271] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-08-12 16:25:39.271] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089895 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089895 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763390 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763390 ms (missed cycles : 2).[0m ×2 + 6.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483163 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483163 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878355 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878355 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838684 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838684 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226331 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226331 ms (missed cycles : 4).[0m ×2 + 9.66sWARNros2_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 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739026 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739026 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 14.30sINFOobjective_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 + 14.31sERRORobjective_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: 1786551949.48763323 seconds ×3 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 15.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOobjective_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 + 15.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 16.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.52sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 16.52sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.53sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 16.53sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.909214 ms (missed cycles : 6). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.909214 ms (missed cycles : 6).[0m ×2 + 7.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.84sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×4 + 8.12sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 1 iterations (0.00322259 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 1 iterations (0.00439846 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (1.7534e-05 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785806 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785806 ms (missed cycles : 2).[0m ×2 + 8.87sINFOros2_control_node[2026-08-12 16:21:54.302] [info] Received new action goal ×2 + 8.87sINFOros2_control_node[2026-08-12 16:21:54.302] [info] Accepted new action goal ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884260 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884260 ms (missed cycles : 2).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481145 ms (missed cycles : 4). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481145 ms (missed cycles : 4).[0m ×2 + 11.29sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.57sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.57sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.57sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786551717.02626395 seconds ×3 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550031 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550031 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380097 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380097 ms (missed cycles : 2).[0m ×2 + 13.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866164 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866164 ms (missed cycles : 2).[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786551720.60376096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484651 ms (missed cycles : 4). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484651 ms (missed cycles : 4).[0m ×2 + 15.38sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 15.39sINFOros2_control_node[2026-08-12 16:22:00.818] [info] Received new action goal ×2 + 15.39sINFOros2_control_node[2026-08-12 16:22:00.818] [info] Accepted new action goal ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094281 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094281 ms (missed cycles : 2).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651562 ms (missed cycles : 5). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651562 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 63 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 + 7.17sWARNros2_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 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241537 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241537 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480645 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480645 ms (missed cycles : 3).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058786 ms (missed cycles : 5). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.058786 ms (missed cycles : 5).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749703 ms (missed cycles : 4). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749703 ms (missed cycles : 4).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782406 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782406 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574612 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574612 ms (missed cycles : 4).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045144 ms (missed cycles : 6). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045144 ms (missed cycles : 6).[0m ×2 + 13.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 14.20sERRORobjective_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: 1786551927.98385143 seconds ×3 + 14.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786551928.61124063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153609 ms (missed cycles : 4). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153609 ms (missed cycles : 4).[0m ×2 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.12sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.14sINFOros2_control_node[2026-08-12 16:25:28.921] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-08-12 16:25:28.921] [info] Accepted new action goal ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693049 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693049 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189254 ms (missed cycles : 4). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189254 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 63 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364854 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360769 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360769 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444882 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444882 ms (missed cycles : 6).[0m ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.30sWARNros2_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 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983227 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983227 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786551906.28617764 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786551906.96724224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601806 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601806 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.72sINFOros2_control_node[2026-08-12 16:25:07.201] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-08-12 16:25:07.201] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191319 ms (missed cycles : 4). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191319 ms (missed cycles : 4).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771143 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771143 ms (missed cycles : 6).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497282 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497282 ms (missed cycles : 2).[0m ×2 + 8.36sWARNros2_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 + 8.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.41sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (5.32e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 1 iterations (0.00464381 s). ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939977 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939977 ms (missed cycles : 2).[0m ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.05sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.07sINFOros2_control_node[2026-08-12 16:25:11.553] [info] Received new action goal ×2 + 9.07sINFOros2_control_node[2026-08-12 16:25:11.553] [info] Accepted new action goal ×2 + 9.64sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915061 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915061 ms (missed cycles : 2).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 11.55sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 11.55sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 13.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.46sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 13.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 14.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 14.58sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 14.59sERRORobjective_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: 1786551917.07215118 seconds ×3 + 15.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.46sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 15.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.47sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 15.47sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 17.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 60 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749703 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749703 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782406 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782406 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574612 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574612 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045144 ms (missed cycles : 6). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045144 ms (missed cycles : 6).[0m ×2 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_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: 1786551927.98385143 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_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 + 4.16sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786551928.61124063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153609 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153609 ms (missed cycles : 4).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.48sINFOros2_control_node[2026-08-12 16:25:28.921] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-12 16:25:28.921] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693049 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693049 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189254 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189254 ms (missed cycles : 4).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165445 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165445 ms (missed cycles : 2).[0m ×2 + 8.43sWARNros2_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 + 8.48sINFOros2_control_node[2026-08-12 16:25:32.930] [info] Received new action goal ×2 + 8.48sINFOros2_control_node[2026-08-12 16:25:32.930] [info] Accepted new action goal ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498120 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498120 ms (missed cycles : 4).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924084 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924084 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018012 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018012 ms (missed cycles : 4).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129168 ms (missed cycles : 5). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129168 ms (missed cycles : 5).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059441 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059441 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664257 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664257 ms (missed cycles : 3).[0m ×2 + 14.08sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786551938.52505398 seconds ×3 + 14.28sWARNros2_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 + 14.68sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786551939.12731624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 14.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.82sINFOros2_control_node[2026-08-12 16:25:39.271] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-08-12 16:25:39.271] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089895 ms (missed cycles : 4). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089895 ms (missed cycles : 4).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763390 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763390 ms (missed cycles : 2).[0m ×2 + 16.73sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483163 ms (missed cycles : 4). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483163 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.1s | 46 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551743.85818028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2).[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551743.92832351 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551744.52729821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786551746.65743399 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.969870 ms (missed cycles : 8). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.969870 ms (missed cycles : 8).[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585514 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585514 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786551748.25476456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162239 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162239 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_node[2026-08-12 16:22:29.786] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×4 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477895 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477895 ms (missed cycles : 4).[0m ×2 + 6.73sINFOobjective_server_node[0;93m2026-08-12 16:22:30.583355909 [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 + 6.73sINFOobjective_server_node[0;93m2026-08-12 16:22:30.583382424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.79sINFOobjective_server_node[2026-08-12 16:22:31.643] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2).[0m ×2 + 8.33sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189192433 [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 + 8.33sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189223046 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.50sINFOobjective_server_node[2026-08-12 16:22:32.353] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.404915453 [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 + 8.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407974722 [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 + 8.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407996647 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.62sINFOobjective_server_node[2026-08-12 16:22:32.477] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2).[0m ×2 + 9.01sINFOobjective_server_node[0;93m2026-08-12 16:22:32.869271481 [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 + 9.04sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896777954 [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 + 9.04sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896807469 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2).[0m ×2 + 10.90sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551754.75642014 seconds ×3 + 11.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551755.42564297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.65sINFOobjective_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 + 11.66sINFOobjective_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 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2).[0m ×2 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.99sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Received new action goal ×2 + 11.99sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Accepted new action goal ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468986 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468986 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558015 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558015 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094718 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094718 ms (missed cycles : 2).[0m ×2 + 2.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786551743.19445515 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 ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 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 ×6 + 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 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551743.85818028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551743.92832351 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551744.52729821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.88sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786551746.65743399 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.969870 ms (missed cycles : 8). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.969870 ms (missed cycles : 8).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585514 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585514 ms (missed cycles : 2).[0m ×2 + 7.48sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786551748.25476456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162239 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162239 ms (missed cycles : 2).[0m ×2 + 9.02sINFOobjective_server_node[2026-08-12 16:22:29.786] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477895 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477895 ms (missed cycles : 4).[0m ×2 + 9.81sINFOobjective_server_node[0;93m2026-08-12 16:22:30.583355909 [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 + 9.81sINFOobjective_server_node[0;93m2026-08-12 16:22:30.583382424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 29 warnings · 531 info |
+ 0.00sINFOobjective_server_node[2026-08-12 16:21:01.343] [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 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.12sINFOobjective_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 + 0.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.13sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.56sWARNobjective_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 + 0.75sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.75sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.75sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.75sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.75sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.75sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.75sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.75sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.75sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.75sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.75sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.75sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.75sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.75sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.83sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.83sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.83sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.84sINFOcomponent_container_mt[2026-08-12 16:21:02.182] [moveit_pro_license] [info] ×2 + 0.84sINFOcomponent_container_mt************************************************* ×4 + 0.84sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.84sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.85sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.86sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.21sINFOros2-2process has finished cleanly [pid 8977] ×2 + 1.30sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.30sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.38sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.43sINFOros2_control_node[2026-08-12 16:21:02.775] [info] Controller state will be published at 20 Hz. ×2 + 1.43sINFOros2_control_node[2026-08-12 16:21:02.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.71sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.71sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.72sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.72sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.73sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.74sINFOros2-8process has finished cleanly [pid 8983] ×2 + 1.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.76sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3).[0m ×2 + 1.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.77sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.09sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.09sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.09sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.09sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.12sINFOros2-3process has finished cleanly [pid 8978] ×2 + 2.16sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 2.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 2.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.24sINFOros2_control_node[2026-08-12 16:21:03.587] [info] Controller state will be published at 10 Hz. ×2 + 2.25sINFOros2_control_node[2026-08-12 16:21:03.588] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.55sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.55sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.55sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 2.55sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 2.60sINFOros2-7process has finished cleanly [pid 8982] ×2 + 2.62sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.62sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.62sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.62sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.63sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.63sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.63sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.63sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.63sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.63sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.64sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.64sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 2.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 2.96sINFOros2-5process has finished cleanly [pid 8980] ×2 + 3.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 3.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.32sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.32sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.32sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.34sINFOros2-4process has finished cleanly [pid 8979] ×2 + 3.39sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 3.39sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 3.44sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.44sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.44sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.44sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.46sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.46sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 3.47sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sINFOros2-6process has finished cleanly [pid 8981] ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 5.07sWARNros2_control_nodeCamera render tick took 1.88 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 + 5.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 7.61sWARNros2_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 + 7.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 29 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002034 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002034 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Canceling active goal... ×2 + 3.54sERRORobjective_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: 1786551961.98478794 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551962.58366823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551963.21379638 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551963.81543827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_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 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551963.81738019 seconds ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551964.51724672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551964.51772380 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786551965.11440682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272551 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272551 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1786551680.10664964 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849955 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849955 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468986 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468986 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558015 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558015 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094718 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094718 ms (missed cycles : 2).[0m ×2 + 3.23sWARNros2_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 + 3.48sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786551743.19445515 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.14sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551743.85818028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551743.92832351 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551744.52729821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.94sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5).[0m ×2 + 6.94sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786551746.65743399 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 31 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129125 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129125 ms (missed cycles : 5).[0m ×2 + 0.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sINFOros2_control_node[2026-08-12 16:21:33.924] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-12 16:21:33.924] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3).[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551697.22348714 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551697.83893633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551697.92906547 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551698.56233764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.97sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4).[0m ×2 + 6.11sWARNros2_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 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4).[0m ×2 + 1.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.51sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Got request to cancel active goal. ×2 + 1.51sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Canceling active goal... ×2 + 1.51sERRORobjective_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: 1786551961.98478794 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551962.58366823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551963.21379638 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551963.81543827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.34sINFOobjective_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 + 3.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551963.81738019 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551964.51724672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551964.51772380 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786551965.11440682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272551 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272551 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786551966.28453660 seconds ×3 + 5.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530996 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530996 ms (missed cycles : 3).[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 2.739026 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739026 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786551949.48763323 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 28 warnings · 450 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.08sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.13sINFOros2_control_node[2026-08-12 16:21:02.775] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-12 16:21:02.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.43sINFOros2-8process has finished cleanly [pid 8983] ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3). + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.79sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.79sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.81sINFOros2-3process has finished cleanly [pid 8978] ×2 + 0.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-08-12 16:21:03.587] [info] Controller state will be published at 10 Hz. ×2 + 0.94sINFOros2_control_node[2026-08-12 16:21:03.588] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.29sINFOros2-7process has finished cleanly [pid 8982] ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.66sINFOros2-5process has finished cleanly [pid 8980] ×2 + 1.69sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 1.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.71sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.04sINFOros2-4process has finished cleanly [pid 8979] ×2 + 2.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 2.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 2.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.14sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.14sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sINFOros2-6process has finished cleanly [pid 8981] ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 1.88 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 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 6.31sWARNros2_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 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 6.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sINFOobjective_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 + 6.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.11sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786551949.48763323 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.42sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 4.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.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 9.487768 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_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 + 2.52sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Got request to cancel active goal. ×2 + 2.52sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Canceling active goal... ×2 + 2.53sERRORobjective_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: 1786551961.98478794 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551962.58366823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551963.21379638 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551963.81543827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.36sINFOobjective_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 + 4.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551963.81738019 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551964.51724672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551964.51772380 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786551965.11440682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272551 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272551 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786551966.28453660 seconds ×3 + 6.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739026 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739026 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786551949.48763323 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-12 16:22:31.643] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189192433 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189223046 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-12 16:22:32.353] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.404915453 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407974722 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407996647 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-12 16:22:32.477] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-12 16:22:32.869271481 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896777954 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896807469 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551754.75642014 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551755.42564297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1786551680.10664964 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3).[0m ×2 + 1.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551697.22348714 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551697.83893633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551697.92906547 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551698.56233764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4).[0m ×2 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3).[0m ×2 + 1.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551697.22348714 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551697.83893633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551697.92906547 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551698.56233764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4).[0m ×2 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3).[0m ×2 + 1.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551697.22348714 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551697.83893633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551697.92906547 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551698.56233764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4).[0m ×2 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534029 ms (missed cycles : 6).[0m ×2 + 0.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866542 ms (missed cycles : 3).[0m ×2 + 1.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-08-12 16:21:35.837] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870697 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786551697.22348714 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786551697.83893633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716366 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786551697.92906547 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786551698.56233764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.59e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-12 16:21:38.687] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463022 ms (missed cycles : 4).[0m ×2 + 5.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444638 ms (missed cycles : 5).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.261516 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849955 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849955 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468986 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468986 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558015 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558015 ms (missed cycles : 4).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094718 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094718 ms (missed cycles : 2).[0m ×2 + 3.23sWARNros2_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 + 3.48sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786551743.19445515 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.14sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551743.85818028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551743.92832351 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551744.52729821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.94sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786551743.85818028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677907 ms (missed cycles : 2).[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786551743.92832351 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786551744.52729821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-12 16:22:24.651] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858384 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074248 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786551746.65743399 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.969870 ms (missed cycles : 8). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.969870 ms (missed cycles : 8).[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585514 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585514 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786551748.25476456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162239 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162239 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_node[2026-08-12 16:22:29.786] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477895 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477895 ms (missed cycles : 4).[0m ×2 + 6.73sINFOobjective_server_node[0;93m2026-08-12 16:22:30.583355909 [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 + 6.73sINFOobjective_server_node[0;93m2026-08-12 16:22:30.583382424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-12 16:22:31.643] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189192433 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189223046 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-12 16:22:32.353] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.404915453 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407974722 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407996647 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-12 16:22:32.477] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-12 16:22:32.869271481 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896777954 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896807469 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551754.75642014 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551755.42564297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-12 16:22:31.643] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189192433 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189223046 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-12 16:22:32.353] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.404915453 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407974722 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407996647 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-12 16:22:32.477] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-12 16:22:32.869271481 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896777954 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896807469 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551754.75642014 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551755.42564297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2459 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×398 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×398 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×796 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899794 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899794 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681990 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681990 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164181 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164181 ms (missed cycles : 2).[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039708 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039708 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551876.18821764 seconds ×3 + 3.90sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.90sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786551876.82597256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOobjective_server_nodeFound path in 5 iterations (0.00591811 s). ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-12 16:24:37.082] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-12 16:24:37.082] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248306 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248306 ms (missed cycles : 4).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476149 ms (missed cycles : 4). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476149 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2459 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×798 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×398 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×398 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×796 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899794 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899794 ms (missed cycles : 2).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681990 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681990 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164181 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164181 ms (missed cycles : 2).[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039708 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039708 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786551876.18821764 seconds ×3 + 3.90sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.90sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786551876.82597256 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOobjective_server_nodeFound path in 5 iterations (0.00591811 s). ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911063 ms (missed cycles : 2).[0m ×2 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.79sINFOros2_control_node[2026-08-12 16:24:37.082] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-12 16:24:37.082] [info] Accepted new action goal ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248306 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248306 ms (missed cycles : 4).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476149 ms (missed cycles : 4). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476149 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 2.364854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364854 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360769 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360769 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444882 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444882 ms (missed cycles : 6).[0m ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.30sWARNros2_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 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983227 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983227 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786551906.28617764 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786551906.96724224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601806 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601806 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.72sINFOros2_control_node[2026-08-12 16:25:07.201] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-08-12 16:25:07.201] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191319 ms (missed cycles : 4). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191319 ms (missed cycles : 4).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771143 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771143 ms (missed cycles : 6).[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 2.364854 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364854 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360769 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360769 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444882 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.444882 ms (missed cycles : 6).[0m ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.30sWARNros2_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 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983227 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983227 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786551906.28617764 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786551906.96724224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601806 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601806 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.72sINFOros2_control_node[2026-08-12 16:25:07.201] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-08-12 16:25:07.201] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191319 ms (missed cycles : 4). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191319 ms (missed cycles : 4).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771143 ms (missed cycles : 6). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771143 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[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 2.739026 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739026 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786551949.48763323 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786551949.48763323 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.42sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 4.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786551949.48763323 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.42sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 4.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1786551680.10664964 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[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 5.125752 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1786551680.10664964 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1786551680.10664964 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1786551680.10664964 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125752 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017554 ms (missed cycles : 2).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-12 16:21:19.375] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000843 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-08-12 16:21:20.085] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1786551680.10664964 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157453 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786551680.77016878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786551680.88029218 seconds ×3 + 3.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786551681.48110867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:21:21.685] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806962 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.478717 ms (missed cycles : 7).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066752 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274204 ms (missed cycles : 5).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987506 ms (missed cycles : 6).[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-08-12 16:21:46.754] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636108 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.168705 ms (missed cycles : 7).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1786551709.00251460 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786551709.65433168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-12 16:21:49.858] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101916 ms (missed cycles : 5).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.476972 ms (missed cycles : 4).[0m ×2 + 6.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860465 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860465 ms (missed cycles : 2).[0m ×2 + 0.04sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 0.04sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.05sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (6.62e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00336087 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.36sINFOros2_control_node[2026-08-12 16:22:08.230] [info] Received new action goal ×2 + 0.36sINFOros2_control_node[2026-08-12 16:22:08.230] [info] Accepted new action goal ×2 + 0.79sINFOros2_control_node[2026-08-12 16:22:08.662] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-12 16:22:08.662] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878820 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878820 ms (missed cycles : 5).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073696 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073696 ms (missed cycles : 2).[0m ×2 + 2.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_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 + 3.21sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.21sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.24sERRORobjective_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: 1786551731.10804796 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289547 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289547 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786551731.90521383 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 4.21sINFOros2_control_node[2026-08-12 16:22:12.079] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-12 16:22:12.079] [info] Accepted new action goal ×2 + 4.25sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117642 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117642 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933887 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933887 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-12 16:22:31.643] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189192433 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189223046 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-12 16:22:32.353] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.404915453 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407974722 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407996647 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-12 16:22:32.477] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-12 16:22:32.869271481 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896777954 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896807469 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551754.75642014 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551755.42564297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-12 16:22:31.643] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937289 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189192433 [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 + 0.55sINFOobjective_server_node[0;93m2026-08-12 16:22:32.189223046 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-12 16:22:32.353] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.404915453 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407974722 [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 + 0.76sINFOobjective_server_node[0;93m2026-08-12 16:22:32.407996647 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-12 16:22:32.477] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015582 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-12 16:22:32.869271481 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896777954 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-12 16:22:32.896807469 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335707 ms (missed cycles : 5).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159950 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786551754.75642014 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786551755.42564297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037804 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-12 16:22:35.843] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640033 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.273225 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-12 16:23:26.036] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-12 16:23:26.036] [info] Accepted new action goal ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676132 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676132 ms (missed cycles : 2).[0m ×2 + 0.91sWARNros2_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 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900760 ms (missed cycles : 3). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900760 ms (missed cycles : 3).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703149 ms (missed cycles : 6). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703149 ms (missed cycles : 6).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786551809.64104486 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125547 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125547 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786551810.24909878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.52sINFOros2_control_node[2026-08-12 16:23:30.436] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-12 16:23:30.436] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.394310 ms (missed cycles : 7). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.394310 ms (missed cycles : 7).[0m ×2 + 5.79sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371966 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371966 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135495 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-12 16:25:14.025] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178277 ms (missed cycles : 5).[0m ×2 + 1.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157578 ms (missed cycles : 2).[0m ×2 + 2.15sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Received new action goal ×2 + 2.16sINFOros2_control_node[2026-08-12 16:25:15.941] [info] Accepted new action goal ×2 + 2.16sWARNros2_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 8.637028 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.637028 ms (missed cycles : 6).[0m ×2 + 3.27sINFOobjective_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 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-12 16:25:17.057] [info] Canceling active goal... ×2 + 3.29sERRORobjective_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: 1786551917.07215118 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786551917.74309874 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (5.15e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-12 16:25:17.947] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464414 ms (missed cycles : 6).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907136 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114733 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749703 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749703 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782406 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782406 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574612 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574612 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045144 ms (missed cycles : 6). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045144 ms (missed cycles : 6).[0m ×2 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_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: 1786551927.98385143 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_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 + 4.16sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786551928.61124063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153609 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153609 ms (missed cycles : 4).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.48sINFOros2_control_node[2026-08-12 16:25:28.921] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-12 16:25:28.921] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693049 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693049 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189254 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189254 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018012 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018012 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129168 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129168 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059441 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059441 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664257 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664257 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786551938.52505398 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNros2_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 + 3.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786551939.12731624 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-08-12 16:25:39.271] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-08-12 16:25:39.271] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089895 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089895 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763390 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763390 ms (missed cycles : 2).[0m ×2 + 6.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483163 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.483163 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 2.739026 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739026 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786551949.48763323 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[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 2.739026 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739026 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786551949.48763323 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 5.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.421592 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192897 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749780 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786551949.48763323 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593030 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786551950.18396807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.42sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786551950.25411367 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786551950.85272145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786551950.87492037 seconds ×3 + 4.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516785 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786551951.58916426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-12 16:25:51.702] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453677 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982723 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002034 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002034 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Canceling active goal... ×2 + 3.54sERRORobjective_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: 1786551961.98478794 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551962.58366823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551963.21379638 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551963.81543827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_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 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551963.81738019 seconds ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551964.51724672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551964.51772380 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3).[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 7.002034 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002034 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.487768 ms (missed cycles : 6).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669051 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935943 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-12 16:26:01.979] [info] Canceling active goal... ×2 + 3.54sERRORobjective_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: 1786551961.98478794 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697888 ms (missed cycles : 6).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786551962.58366823 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786551963.21379638 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331004 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786551963.81543827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.37sINFOobjective_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 + 5.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786551963.81738019 seconds ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786551964.51724672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786551964.51772380 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604726 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.7s | 36 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/2026-08-12-16-20-55-755763-f036d35e7294-8928 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912802 ms (missed cycles : 2). + 2.05sINFOros2_control_node-1process started with pid [8976] ×2 + 2.05sINFOmove_group-9process started with pid [9013] ×2 + 2.05sINFOparameter_manager_node-10process started with pid [9014] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [9015] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [9016] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [9017] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [9018] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [9019] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [9020] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [9021] ×2 + 2.06sINFOui_teleop_bridge-18process started with pid [9022] ×2 + 2.06sINFOweb_bridge-19process started with pid [9023] ×2 + 2.06sINFOtf2_web_republisher_node-20process started with pid [9087] ×2 + 2.06sINFOvideo_server-21process started with pid [9088] ×2 + 2.06sINFOweb_bridge_auth_proxy-22process started with pid [9089] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9090] ×2 + 2.07sINFOros2-2process started with pid [8977] ×2 + 2.07sINFOros2-3process started with pid [8978] ×2 + 2.07sINFOros2-4process started with pid [8979] ×2 + 2.07sINFOros2-5process started with pid [8980] ×2 + 2.07sINFOros2-6process started with pid [8981] ×2 + 2.07sINFOros2-7process started with pid [8982] ×2 + 2.07sINFOros2-8process started with pid [8983] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.11sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.11sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.11sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.11sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.12sWARNros2_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 + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912802 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.12sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.44sINFOvideo_server2026/08/12 16:20:58 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.44sINFOvideo_server2026/08/12 16:20:58 INF configuration loaded from /tmp/moveit-webrtc-r20o68rj/mediamtx.yml ×2 + 2.44sINFOvideo_server2026/08/12 16:20:58 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.44sINFOvideo_server2026/08/12 16:20:58 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585233 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585233 ms (missed cycles : 3).[0m ×2 + 3.00sINFOmove_group[2026-08-12 16:20:59.513] [moveit_pro_license] [info] ×2 + 3.00sINFOmove_group************************************************* ×4 + 3.00sINFOmove_group* MoveIt Pro License ×2 + 3.00sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.28sINFOwaypoint_manager_node[2026-08-12 16:20:59.788] [moveit_pro_license] [info] ×2 + 3.28sINFOwaypoint_manager_node************************************************* ×4 + 3.28sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.28sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.33sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.33sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.33sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.34sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.44sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.50sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.51sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.51sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.53sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.73sINFOmove_group ×4 + 3.73sINFOmove_group[92mYou can start planning now![0m ×2 + 3.90sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.90sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406850 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406850 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_node[2026-08-12 16:21:01.343] [moveit_pro_license] [info] ×2 + 4.83sINFOobjective_server_node************************************************* ×4 + 4.83sINFOobjective_server_node* MoveIt Pro License ×2 + 4.83sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.95sINFOobjective_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 + 4.95sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.96sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.96sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.96sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.96sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.96sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.96sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.96sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.96sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.25sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.25sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.39sWARNobjective_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 + 5.58sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.58sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.58sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.58sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.58sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.58sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.58sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.58sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 5.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 5.67sINFOcomponent_container_mt[2026-08-12 16:21:02.182] [moveit_pro_license] [info] ×2 + 5.67sINFOcomponent_container_mt************************************************* ×4 + 5.67sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.67sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.68sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.68sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.68sINFOforce_torque_sensor_broadcasterconfigure successful + 5.69sINFOros2_control_nodeconfigure successful[0m ×2 + 5.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.69sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.69sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.69sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.01sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.01sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.01sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.01sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.04sINFOros2-2process has finished cleanly [pid 8977] ×2 + 6.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 6.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 6.21sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.26sINFOros2_control_node[2026-08-12 16:21:02.775] [info] Controller state will be published at 20 Hz. ×2 + 6.26sINFOros2_control_node[2026-08-12 16:21:02.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.54sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.54sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.54sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.54sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.55sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 6.55sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 6.56sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.56sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.57sINFOros2-8process has finished cleanly [pid 8983] ×2 + 6.59sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.59sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.59sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.59sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.59sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3).[0m ×2 + 6.60sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.60sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.95sINFOros2-3process has finished cleanly [pid 8978] ×2 + 6.99sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 6.99sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 7.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.07sINFOros2_control_node[2026-08-12 16:21:03.587] [info] Controller state will be published at 10 Hz. ×2 + 7.08sINFOros2_control_node[2026-08-12 16:21:03.588] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 7.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 7.43sINFOros2-7process has finished cleanly [pid 8982] ×2 + 7.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.45sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 7.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 7.79sINFOros2-5process has finished cleanly [pid 8980] ×2 + 7.83sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.83sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.83sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.83sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.83sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.83sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.84sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.84sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 7.85sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.85sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 7.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.15sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 8.15sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 8.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 8.15sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 8.17sINFOros2-4process has finished cleanly [pid 8979] ×2 + 8.22sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 8.22sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 8.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 8.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 8.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 8.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 8.27sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.27sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.29sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 8.29sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 8.30sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 8.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.63sINFOros2-6process has finished cleanly [pid 8981] ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 9.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 9.90sWARNros2_control_nodeCamera render tick took 1.88 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 + 10.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 10.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 10.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 345 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.05sINFOros2-7process has finished cleanly [pid 8982] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 8980] ×2 + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 0.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.79sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.83sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.88sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.89sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.89sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.91sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 2.52sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 5.06sWARNros2_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 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_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 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.87sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 404 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 + 0.03sINFOros2-3process has finished cleanly [pid 8978] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-12 16:21:03.587] [info] Controller state will be published at 10 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-12 16:21:03.588] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×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_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.51sINFOros2-7process has finished cleanly [pid 8982] ×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 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_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 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.86sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.86sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 8980] ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.91sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 1.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.23sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.23sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.25sINFOros2-4process has finished cleanly [pid 8979] ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.35sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.35sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.37sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.37sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 1.38sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sINFOros2-6process has finished cleanly [pid 8981] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 2.98sWARNros2_control_nodeCamera render tick took 1.88 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 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_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 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_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 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.33sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 345 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.05sINFOros2-7process has finished cleanly [pid 8982] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.40sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 8980] ×2 + 0.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.45sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.45sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 0.46sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.79sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.83sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.88sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.89sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.89sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.91sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.24sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 2.52sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 5.06sWARNros2_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 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 5.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_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 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.87sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 421 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.08sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.13sINFOros2_control_node[2026-08-12 16:21:02.775] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-12 16:21:02.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.43sINFOros2-8process has finished cleanly [pid 8983] ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3). + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.79sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.79sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.81sINFOros2-3process has finished cleanly [pid 8978] ×2 + 0.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-08-12 16:21:03.587] [info] Controller state will be published at 10 Hz. ×2 + 0.94sINFOros2_control_node[2026-08-12 16:21:03.588] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.29sINFOros2-7process has finished cleanly [pid 8982] ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.66sINFOros2-5process has finished cleanly [pid 8980] ×2 + 1.69sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 1.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.71sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.04sINFOros2-4process has finished cleanly [pid 8979] ×2 + 2.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 2.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 2.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.14sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.14sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sINFOros2-6process has finished cleanly [pid 8981] ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 1.88 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 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 6.31sWARNros2_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 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-12-16-20-55-755763-f036d35e7294-8928 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912802 ms (missed cycles : 2). + 2.05sINFOros2_control_node-1process started with pid [8976] ×2 + 2.05sINFOmove_group-9process started with pid [9013] ×2 + 2.05sINFOparameter_manager_node-10process started with pid [9014] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [9015] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [9016] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [9017] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [9018] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [9019] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [9020] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [9021] ×2 + 2.06sINFOui_teleop_bridge-18process started with pid [9022] ×2 + 2.06sINFOweb_bridge-19process started with pid [9023] ×2 + 2.06sINFOtf2_web_republisher_node-20process started with pid [9087] ×2 + 2.06sINFOvideo_server-21process started with pid [9088] ×2 + 2.06sINFOweb_bridge_auth_proxy-22process started with pid [9089] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9090] ×2 + 2.07sINFOros2-2process started with pid [8977] ×2 + 2.07sINFOros2-3process started with pid [8978] ×2 + 2.07sINFOros2-4process started with pid [8979] ×2 + 2.07sINFOros2-5process started with pid [8980] ×2 + 2.07sINFOros2-6process started with pid [8981] ×2 + 2.07sINFOros2-7process started with pid [8982] ×2 + 2.07sINFOros2-8process started with pid [8983] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.11sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.11sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.11sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.11sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.12sWARNros2_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 + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912802 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.12sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.44sINFOvideo_server2026/08/12 16:20:58 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.44sINFOvideo_server2026/08/12 16:20:58 INF configuration loaded from /tmp/moveit-webrtc-r20o68rj/mediamtx.yml ×2 + 2.44sINFOvideo_server2026/08/12 16:20:58 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.44sINFOvideo_server2026/08/12 16:20:58 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 | 25 warnings · 421 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.08sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.13sINFOros2_control_node[2026-08-12 16:21:02.775] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-12 16:21:02.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.43sINFOros2-8process has finished cleanly [pid 8983] ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3). + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.79sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.79sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.81sINFOros2-3process has finished cleanly [pid 8978] ×2 + 0.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-08-12 16:21:03.587] [info] Controller state will be published at 10 Hz. ×2 + 0.94sINFOros2_control_node[2026-08-12 16:21:03.588] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.29sINFOros2-7process has finished cleanly [pid 8982] ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.66sINFOros2-5process has finished cleanly [pid 8980] ×2 + 1.69sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 1.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.71sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.04sINFOros2-4process has finished cleanly [pid 8979] ×2 + 2.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 2.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 2.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.14sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.14sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sINFOros2-6process has finished cleanly [pid 8981] ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 1.88 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 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 6.31sWARNros2_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 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 421 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.08sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.13sINFOros2_control_node[2026-08-12 16:21:02.775] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-12 16:21:02.776] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.43sINFOros2-8process has finished cleanly [pid 8983] ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3). + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385346 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.79sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.79sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.81sINFOros2-3process has finished cleanly [pid 8978] ×2 + 0.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-08-12 16:21:03.587] [info] Controller state will be published at 10 Hz. ×2 + 0.94sINFOros2_control_node[2026-08-12 16:21:03.588] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.29sINFOros2-7process has finished cleanly [pid 8982] ×2 + 1.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.32sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.32sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.64sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.65sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.66sINFOros2-5process has finished cleanly [pid 8980] ×2 + 1.69sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.69sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 1.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.71sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.04sINFOros2-4process has finished cleanly [pid 8979] ×2 + 2.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 2.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 2.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.14sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.14sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 2.16sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sINFOros2-6process has finished cleanly [pid 8981] ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 3.77sWARNros2_control_nodeCamera render tick took 1.88 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 + 4.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 6.31sWARNros2_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 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 404 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 + 0.03sINFOros2-3process has finished cleanly [pid 8978] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-12 16:21:03.587] [info] Controller state will be published at 10 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-12 16:21:03.588] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.21sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×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_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.51sINFOros2-7process has finished cleanly [pid 8982] ×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 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_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 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.86sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.86sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.87sINFOros2-5process has finished cleanly [pid 8980] ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.91sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686092 ms (missed cycles : 2).[0m ×2 + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551664.44718862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551664.45742822 seconds ×3 + 1.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.23sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.23sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.23sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.25sINFOros2-4process has finished cleanly [pid 8979] ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 1.30sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 1.35sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.35sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.37sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.37sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 1.38sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.71sINFOros2-6process has finished cleanly [pid 8981] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 2.98sWARNros2_control_nodeCamera render tick took 1.88 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 + 3.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_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 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 6.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.19sINFOobjective_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 + 6.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.33sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 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 · 256 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776884 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.776884 ms (missed cycles : 4).[0m ×2 + 7.45sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8979] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yl4ey1q_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jbrc_d76 --params-file /tmp/launch_params_mu3xqh0y [0m ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_node[2026-08-12 16:21:04.782] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-12 16:21:04.805] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.805] [info] Controller state will be published at 50 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-12 16:21:04.811] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786551665.04539275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-6process has finished cleanly [pid 8981] ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972438 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786551666.10559988 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.75sWARNros2_control_nodeCamera render tick took 1.88 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 + 2.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786551666.72380114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247695 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786551666.78396893 seconds ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551667.43854713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551667.45879650 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791284 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551668.17225432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551668.32289314 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112088 ms (missed cycles : 2).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551668.97113252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551669.01130295 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786551669.61457968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (8.8314e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-12 16:21:09.761] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.104886 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308179 ms (missed cycles : 2).[0m ×2 | ||||