116
Total objective tests
34
Objectives passed
0
Objectives failed
82
Objectives skipped
7.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass53 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.6s | 166 warnings · 297 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [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 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.43sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.11sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.14sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.431998640 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.432025196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 3.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785933412.31128621 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785933413.00286674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482410 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.482410 ms (missed cycles : 4).[0m ×2 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×4 + 7.32sINFOros2_control_node[2026-08-05 12:36:56.267] [info] Received new action goal ×2 + 7.32sINFOros2_control_node[2026-08-05 12:36:56.267] [info] Accepted new action goal ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415826 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415826 ms (missed cycles : 4).[0m ×2 + 9.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×4 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342590 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342590 ms (missed cycles : 3).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720978 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720978 ms (missed cycles : 3).[0m ×2 + 10.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.49sINFOros2_control_node[2026-08-05 12:36:59.437] [info] Received new action goal ×2 + 10.50sINFOros2_control_node[2026-08-05 12:36:59.437] [info] Accepted new action goal ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406751 ms (missed cycles : 4). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406751 ms (missed cycles : 4).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017978 ms (missed cycles : 5). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.017978 ms (missed cycles : 5).[0m ×2 + 13.47sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 13.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.52sINFOros2_control_node[2026-08-05 12:37:02.459] [info] Received new action goal ×2 + 13.52sINFOros2_control_node[2026-08-05 12:37:02.459] [info] Accepted new action goal ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843396 ms (missed cycles : 3). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843396 ms (missed cycles : 3).[0m ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309934 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309934 ms (missed cycles : 2).[0m ×2 + 15.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534173 ms (missed cycles : 3). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534173 ms (missed cycles : 3).[0m ×2 + 16.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.47sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.47sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.47sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.47sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220372 ms (missed cycles : 4). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220372 ms (missed cycles : 4).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800192 ms (missed cycles : 2). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800192 ms (missed cycles : 2).[0m ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145853 ms (missed cycles : 4). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145853 ms (missed cycles : 4).[0m ×2 + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625638 ms (missed cycles : 3). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625638 ms (missed cycles : 3).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672720 ms (missed cycles : 4). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672720 ms (missed cycles : 4).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637325 ms (missed cycles : 4). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637325 ms (missed cycles : 4).[0m ×2 + 23.25sINFOobjective_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 + 23.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.25sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.25sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.25sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.25sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852918 ms (missed cycles : 5). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.852918 ms (missed cycles : 5).[0m ×2 + 24.14sINFOros2_control_node[2026-08-05 12:37:13.086] [info] Received new action goal ×2 + 24.14sINFOros2_control_node[2026-08-05 12:37:13.086] [info] Accepted new action goal ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.046588 ms (missed cycles : 7). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.046588 ms (missed cycles : 7).[0m ×2 + 25.32sINFOobjective_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 + 25.33sINFOobjective_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 + 25.61sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 25.61sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.65sINFOros2_control_node[2026-08-05 12:37:14.589] [info] Received new action goal ×2 + 25.65sINFOros2_control_node[2026-08-05 12:37:14.589] [info] Accepted new action goal ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139405 ms (missed cycles : 2). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139405 ms (missed cycles : 2).[0m ×2 + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982934 ms (missed cycles : 2). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982934 ms (missed cycles : 2).[0m ×2 + 27.78sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 27.78sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.79sINFOros2_control_node[2026-08-05 12:37:16.737] [info] Received new action goal ×2 + 27.79sINFOros2_control_node[2026-08-05 12:37:16.737] [info] Accepted new action goal ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.654354 ms (missed cycles : 6). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.654354 ms (missed cycles : 6).[0m ×2 + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731298 ms (missed cycles : 4). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731298 ms (missed cycles : 4).[0m ×2 + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847594 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847594 ms (missed cycles : 2).[0m ×2 + 30.83sINFOros2_control_node[2026-08-05 12:37:19.769] [info] Received new action goal ×2 + 30.83sINFOros2_control_node[2026-08-05 12:37:19.769] [info] Accepted new action goal ×2 + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145615 ms (missed cycles : 2). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145615 ms (missed cycles : 2).[0m ×2 + 32.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.975917 ms (missed cycles : 6). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.975917 ms (missed cycles : 6).[0m ×2 + 33.41sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 33.42sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.46sINFOros2_control_node[2026-08-05 12:37:22.400] [info] Received new action goal ×2 + 33.46sINFOros2_control_node[2026-08-05 12:37:22.400] [info] Accepted new action goal ×2 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356605 ms (missed cycles : 4). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356605 ms (missed cycles : 4).[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818783 ms (missed cycles : 5). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818783 ms (missed cycles : 5).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900264 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900264 ms (missed cycles : 3).[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897985 ms (missed cycles : 2). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897985 ms (missed cycles : 2).[0m ×2 + 38.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688097 ms (missed cycles : 2). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688097 ms (missed cycles : 2).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569649 ms (missed cycles : 2). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569649 ms (missed cycles : 2).[0m ×2 + 40.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349160 ms (missed cycles : 2). + 40.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349160 ms (missed cycles : 2).[0m ×2 + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063753 ms (missed cycles : 4). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063753 ms (missed cycles : 4).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581026 ms (missed cycles : 2). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581026 ms (missed cycles : 2).[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670677 ms (missed cycles : 2). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670677 ms (missed cycles : 2).[0m ×2 + 43.73sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 44.74sINFOros2_control_node[2026-08-05 12:37:33.687] [info] Received new action goal ×2 + 44.74sINFOros2_control_node[2026-08-05 12:37:33.687] [info] Accepted new action goal ×2 + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949240 ms (missed cycles : 3). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949240 ms (missed cycles : 3).[0m ×2 + 45.92sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785933454.86306262 seconds ×3 + 46.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960531 ms (missed cycles : 3). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960531 ms (missed cycles : 3).[0m ×2 + 46.73sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785933455.67406154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621254 ms (missed cycles : 4). + 47.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621254 ms (missed cycles : 4).[0m ×2 + 47.91sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.93sINFOros2_control_node[2026-08-05 12:37:36.869] [info] Received new action goal ×2 + 47.93sINFOros2_control_node[2026-08-05 12:37:36.869] [info] Accepted new action goal ×2 + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921703 ms (missed cycles : 3). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921703 ms (missed cycles : 3).[0m ×2 + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515917 ms (missed cycles : 3). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515917 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.5s | 3 errors · 118 warnings · 255 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254129 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254129 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486282 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486282 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875351 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875351 ms (missed cycles : 5).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081319 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081319 ms (missed cycles : 4).[0m ×2 + 3.43sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.43sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785933482.76799703 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785933483.42966509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.16sINFOobjective_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 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOobjective_server_nodeFound path in 5 iterations (0.00493061 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681742 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681742 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.35sINFOros2_control_node[2026-08-05 12:38:03.689] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-08-05 12:38:03.689] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879102 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879102 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721056 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721056 ms (missed cycles : 3).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020291 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020291 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030344 ms (missed cycles : 4). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030344 ms (missed cycles : 4).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822877 ms (missed cycles : 3). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822877 ms (missed cycles : 3).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004440 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004440 ms (missed cycles : 3).[0m ×2 + 11.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×4 + 11.68sINFOobjective_server_node[2026-08-05 12:38:11.023] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425921 ms (missed cycles : 2). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425921 ms (missed cycles : 2).[0m ×2 + 12.35sINFOobjective_server_node[0;m[0;93m2026-08-05 12:38:11.696503378 [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 + 12.35sINFOobjective_server_node[0;93m2026-08-05 12:38:11.696531687 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.51sINFOobjective_server_node[2026-08-05 12:38:11.854] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.00sINFOobjective_server_node[0;93m2026-08-05 12:38:12.342920468 [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 + 13.00sINFOobjective_server_node[0;93m2026-08-05 12:38:12.342951622 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.11sINFOobjective_server_node[2026-08-05 12:38:12.456] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.16sINFOobjective_server_node[0;93m2026-08-05 12:38:12.504806263 [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 + 13.17sINFOobjective_server_node[0;93m2026-08-05 12:38:12.507614369 [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 + 13.17sINFOobjective_server_node[0;93m2026-08-05 12:38:12.507636073 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.18sINFOobjective_server_node[2026-08-05 12:38:12.522] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707109 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707109 ms (missed cycles : 2).[0m ×2 + 13.51sINFOobjective_server_node[0;93m2026-08-05 12:38:12.856762389 [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 + 13.54sINFOobjective_server_node[0;93m2026-08-05 12:38:12.881621327 [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 + 13.54sINFOobjective_server_node[0;93m2026-08-05 12:38:12.881650006 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001254 ms (missed cycles : 5). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001254 ms (missed cycles : 5).[0m ×2 + 15.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.929875 ms (missed cycles : 8). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.929875 ms (missed cycles : 8).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925631 ms (missed cycles : 3). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925631 ms (missed cycles : 3).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431892 ms (missed cycles : 4). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431892 ms (missed cycles : 4).[0m ×2 + 17.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 18.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 18.39sINFOobjective_server_nodeFound path in 4 iterations (0.00273667 s). ×2 + 18.45sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.49sINFOobjective_server_nodeFound path in 14 iterations (0.00659644 s). ×2 + 18.52sINFOobjective_server_nodePath shortcutter: [X_________________________X_____________X_______________X] ×2 + 18.55sINFOobjective_server_nodeFound path in 2 iterations (0.00331275 s). ×2 + 18.59sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 18.61sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 18.64sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.66sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 18.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.71sINFOobjective_server_nodeFound path in 8 iterations (0.00299696 s). ×2 + 18.75sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677464 ms (missed cycles : 5). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677464 ms (missed cycles : 5).[0m ×2 + 18.78sINFOobjective_server_nodeFound path in 1 iterations (0.00335925 s). ×2 + 18.83sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 18.85sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 18.88sINFOobjective_server_nodePath shortcutter: [X________________________________________X] ×2 + 18.90sINFOobjective_server_nodeFound path in 0 iterations (1.93e-07 s). ×2 + 18.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.96sINFOobjective_server_nodeFound path in 4 iterations (0.00449672 s). ×2 + 19.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________X] ×2 + 19.07sINFOobjective_server_nodeFound path in 4 iterations (0.00352233 s). ×2 + 19.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.18sINFOobjective_server_nodeFound path in 1 iterations (0.00506068 s). ×2 + 19.23sINFOobjective_server_nodePath shortcutter: [X____________________________________X___________________________X] ×2 + 19.26sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 19.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.31sINFOobjective_server_nodeFound path in 1 iterations (0.00291871 s). ×2 + 19.39sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_________________________X] ×2 + 19.41sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 19.48sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 19.51sINFOobjective_server_nodeFound path in 0 iterations (1.87e-07 s). ×2 + 19.63sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 19.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.85sINFOros2_control_node[2026-08-05 12:38:19.191] [info] Received new action goal ×2 + 19.85sINFOros2_control_node[2026-08-05 12:38:19.191] [info] Accepted new action goal ×2 + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212474 ms (missed cycles : 3). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212474 ms (missed cycles : 3).[0m ×2 + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582381 ms (missed cycles : 2). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582381 ms (missed cycles : 2).[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839663 ms (missed cycles : 3). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839663 ms (missed cycles : 3).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807960 ms (missed cycles : 2). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807960 ms (missed cycles : 2).[0m ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842067 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842067 ms (missed cycles : 2).[0m ×2 + 24.85sINFOros2_control_node[2026-08-05 12:38:24.194] [info] Received new action goal ×2 + 24.85sINFOros2_control_node[2026-08-05 12:38:24.194] [info] Accepted new action goal ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541723 ms (missed cycles : 5). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541723 ms (missed cycles : 5).[0m ×2 + 26.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055904 ms (missed cycles : 2). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055904 ms (missed cycles : 2).[0m ×2 + 26.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 26.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.57sINFOros2_control_node[2026-08-05 12:38:25.916] [info] Received new action goal ×2 + 26.58sINFOros2_control_node[2026-08-05 12:38:25.916] [info] Accepted new action goal ×2 + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067986 ms (missed cycles : 2). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067986 ms (missed cycles : 2).[0m ×2 + 27.76sWARNobjective_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 + 27.76sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.80sINFOros2_control_node[2026-08-05 12:38:27.138] [info] Received new action goal ×2 + 27.80sINFOros2_control_node[2026-08-05 12:38:27.138] [info] Accepted new action goal ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698896 ms (missed cycles : 3). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698896 ms (missed cycles : 3).[0m ×2 + 29.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726537 ms (missed cycles : 3). + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726537 ms (missed cycles : 3).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262676 ms (missed cycles : 4). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262676 ms (missed cycles : 4).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385962 ms (missed cycles : 4). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385962 ms (missed cycles : 4).[0m ×2 + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700999 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700999 ms (missed cycles : 2).[0m ×2 + 32.94sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785933512.28292251 seconds ×3 + 33.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.33sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785933513.02276897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020809 ms (missed cycles : 2). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020809 ms (missed cycles : 2).[0m ×2 + 33.90sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 33.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.91sINFOros2_control_node[2026-08-05 12:38:33.247] [info] Received new action goal ×2 + 33.91sINFOros2_control_node[2026-08-05 12:38:33.247] [info] Accepted new action goal ×2 + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449213 ms (missed cycles : 3). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449213 ms (missed cycles : 3).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948013 ms (missed cycles : 5). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948013 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.1s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1785933340.16509700 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106654 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106654 ms (missed cycles : 4).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821901 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821901 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959544 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959544 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255672 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255672 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443415 ms (missed cycles : 5). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.443415 ms (missed cycles : 5).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388543 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388543 ms (missed cycles : 3).[0m ×2 + 11.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 12.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.55sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.56sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491276 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491276 ms (missed cycles : 2).[0m ×2 + 12.85sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 12.85sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.86sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 12.86sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 12.88sINFOobjective_server_nodeFound path in 0 iterations (6.48e-07 s). ×2 + 12.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 12.94sINFOobjective_server_nodeFound path in 1 iterations (0.00292874 s). ×2 + 13.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.10sINFOros2_control_node[2026-08-05 12:35:51.199] [info] Received new action goal ×2 + 13.10sINFOros2_control_node[2026-08-05 12:35:51.199] [info] Accepted new action goal ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430293 ms (missed cycles : 4). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430293 ms (missed cycles : 4).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233967 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233967 ms (missed cycles : 2).[0m ×2 + 15.58sINFOros2_control_node[2026-08-05 12:35:53.672] [info] Received new action goal ×2 + 15.58sINFOros2_control_node[2026-08-05 12:35:53.672] [info] Accepted new action goal ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4).[0m ×2 + 17.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.49sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Received new action goal ×2 + 17.49sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Accepted new action goal ×2 + 17.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2).[0m ×2 + 18.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785933356.97065759 seconds ×3 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2).[0m ×2 + 19.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785933357.59671235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785933357.67684770 seconds ×3 + 20.22sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785933358.31360364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.32sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 20.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2).[0m ×2 + 20.34sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Received new action goal ×2 + 20.35sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Accepted new action goal ×2 + 21.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.6s | 73 errors · 45 warnings · 359 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3).[0m ×2 + 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Canceling active goal... ×2 + 0.01sERRORobjective_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: 1785933567.55073571 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785933568.19735527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785933569.63748598 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785933570.22730327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.69sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785933570.22982812 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364396 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364396 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785933570.82217336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785933570.82266140 seconds ×3 + 3.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785933571.42041016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924695 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924695 ms (missed cycles : 2).[0m ×2 + 5.14sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752966 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752966 ms (missed cycles : 5).[0m ×2 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785933573.43054605 seconds ×3 + 5.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850711 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850711 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198526 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198526 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678044 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678044 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798242 ms (missed cycles : 4). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798242 ms (missed cycles : 4).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174889 ms (missed cycles : 4). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174889 ms (missed cycles : 4).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420997 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420997 ms (missed cycles : 2).[0m ×2 + 11.95sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.97sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.98sERRORweb_video_auth_proxy-23process has died [pid 9070, 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 + 11.98sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.98sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.98sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.99sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORweb_bridge_auth_proxy-22process has died [pid 9069, 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 + 11.99sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.01sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.01sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.01sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.01sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 12.02sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 12.03sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 12.04sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 12.06sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 12.07sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 12.08sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 12.08sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 12.09sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 12.11sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 12.11sINFOvideo_server-21process has finished cleanly [pid 9068] ×2 + 12.12sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 12.12sERRORcomponent_container_mt-15process has died [pid 8999, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_mt --ros-args --log-level error --ros-args -r __node:=moveit_studio_container -r __ns:=/']. ×2 + 12.13sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 12.14sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 12.15sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 12.17sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 12.17sINFOcontroller_managerShutdown request received.... + 12.17sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.17sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.17sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.17sINFOvideo_server2026/08/05 12:39:39 INF shutting down gracefully ×2 + 12.17sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.17sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.17sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 12.17sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.17sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 12.17sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 12.17sINFOcontroller_managerShutting down the controller manager. + 12.17sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOvideo_server2026/08/05 12:39:39 INF [WebRTC] closing ×2 + 12.17sINFOvideo_server2026/08/05 12:39:39 INF [RTSP] closing ×2 + 12.17sINFOvideo_server2026/08/05 12:39:39 INF waiting for running hooks ×2 + 12.17sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.17sERRORcomponent_container_mtterminate called after throwing an instance of 'rclcpp::exceptions::RCLError' ×2 + 12.17sERRORcomponent_container_mtwhat(): could not create client: rcl node's context is invalid, at ./src/rcl/node.c:404 ×2 + 12.18sERRORmove_group-9process has died [pid 8993, 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__pcj70zw --params-file /tmp/launch_params_a2blue_z --params-file /tmp/launch_params_o40zmd5k --params-file /tmp/launch_params_b8zkjpw9 --params-file /tmp/launch_params_sy9aw6ht --params-file /tmp/launch_params_uag0v05c']. ×2 + 12.18sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.18sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.18sERRORmove_groupStack trace (most recent call last) in thread 9407: ×2 + 12.18sWARNparameter_manager_nodeROS node was shutdown. ×2 + 12.18sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.18sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb214285a63, in __clone ×2 + 12.18sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2141f8aa3, in ×2 + 12.18sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb21448adb3, in ×2 + 12.18sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fb214bf6ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.18sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb21481c620, in rclcpp::Rate::sleep() ×2 + 12.18sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb21475ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.18sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb214720087, in ×2 + 12.18sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb214459390, in __cxa_throw ×2 + 12.18sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb214443a54, in std::terminate() ×2 + 12.18sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2144590d9, in ×2 + 12.18sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb214443ff4, in ×2 + 12.18sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2141848fe, in abort ×2 + 12.18sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2141a127d, in raise ×2 + 12.18sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb2141fab2c, in pthread_kill ×2 + 12.18sERRORmove_groupAborted (Signal sent by tkill() 8993 0) ×2 + 12.18sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.18sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.18sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.18sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 12.18sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 12.18sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.18sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.18sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.18sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.18sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.18sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.38sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.38sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 13.08sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9067] ×2 + 13.08sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 13.15sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8997] ×2 + 13.16sINFOui_teleop_bridge-18process has finished cleanly [pid 9002] ×2 + 13.16sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8996] ×2 + 13.17sINFOexecute_objective_bridge-17process has finished cleanly [pid 9001] ×2 + 13.17sINFOcomponent_container_mt-16process has finished cleanly [pid 9000] ×2 + 13.21sINFOwaypoint_manager_node-11process has finished cleanly [pid 8995] ×2 + 13.22sINFOparameter_manager_node-10process has finished cleanly [pid 8994] ×2 + 13.28sINFOobjective_server_node[0;m[2026-08-05 12:39:40.820] [moveit_pro_license] [info] ×2 + 13.28sINFOobjective_server_node************************************************* ×4 + 13.28sINFOobjective_server_node* MoveIt Pro License ×2 + 13.28sINFOobjective_server_node* Application has successfully terminated ×2 + 13.34sINFOobjective_server_nodecorrupted double-linked list ×2 + 13.34sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 13.35sINFOobjective_server_node#21 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 13.35sINFOobjective_server_node#20 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5642c689a254, in _start ×2 + 13.35sINFOobjective_server_node#19 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818df8528a, in __libc_start_main ×2 + 13.35sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818df851d0, in ×2 + 13.35sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818dfa2bbd, in exit ×2 + 13.35sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818dfa2a75, in ×2 + 13.35sINFOobjective_server_node#15 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f8148868a9d, in std::__shared_ptr<Ort::Env, (__gnu_cxx::_Lock_policy)2>::~__shared_ptr() ×2 + 13.35sINFOobjective_server_node#14 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f8148868f32, in std::_Sp_counted_ptr_inplace<Ort::Env, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 13.35sINFOobjective_server_node#13 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f813ee1c704, in ×2 + 13.35sINFOobjective_server_node#12 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f813ee93052, in ×2 + 13.35sINFOobjective_server_node#11 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f813f58f176, in ×2 + 13.35sINFOobjective_server_node#10 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f813f58f079, in ×2 + 13.35sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818e008dcd, in __libc_free ×2 + 13.35sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818e006439, in ×2 + 13.35sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818e005da4, in ×2 + 13.35sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818e004cd9, in ×2 + 13.35sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818e004b7b, in ×2 + 13.35sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818e003ff4, in ×2 + 13.35sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818df847b5, in ×2 + 13.35sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818df838fe, in abort ×2 + 13.35sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818dfa027d, in raise ×2 + 13.35sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f818dff9b2c, in pthread_kill ×2 + 13.35sERRORobjective_server_nodeAborted (Signal sent by tkill() 8998 0) ×2 + 13.77sERRORobjective_server_node_main-14process has died [pid 8998, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_6d7pqejc --params-file /tmp/launch_params_n5nbb2j3 --params-file /tmp/launch_params_q2s7a7lb --params-file /tmp/launch_params_uympm9k6 --params-file /tmp/launch_params_ygfrfxdz --params-file /tmp/launch_params_mravc8lj --params-file /tmp/launch_params__lm25wkm --params-file /tmp/launch_params_uyu72yaa --params-file /tmp/launch_params_v2zrb2wp']. ×2 + 13.77sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 14.48sINFOweb_bridge-19process has finished cleanly [pid 9003] ×2 + 14.48sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.82sINFOros2_control_node-1process has finished cleanly [pid 8956] ×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 3.893590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893590 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (7.16e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.49sINFOobjective_server_nodeFound path in 1 iterations (0.00400588 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.67sINFOros2_control_node[2026-08-05 12:36:27.911] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-08-05 12:36:27.911] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222451 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222451 ms (missed cycles : 2).[0m ×2 + 1.11sINFOros2_control_node[2026-08-05 12:36:28.353] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-08-05 12:36:28.353] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705169 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705169 ms (missed cycles : 3).[0m ×2 + 2.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006175 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006175 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.40sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.40sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sERRORobjective_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: 1785933390.64979601 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.22sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785933391.46986747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924982 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924982 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.42sINFOros2_control_node[2026-08-05 12:36:31.663] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-05 12:36:31.663] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458206 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458206 ms (missed cycles : 4).[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770557 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770557 ms (missed cycles : 5).[0m ×2 + 6.90sINFOros2_control_node[2026-08-05 12:36:34.143] [info] Received new action goal ×2 + 6.90sINFOros2_control_node[2026-08-05 12:36:34.143] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403264 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403264 ms (missed cycles : 4).[0m ×2 + 7.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371189 ms (missed cycles : 4). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.371189 ms (missed cycles : 4).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487480 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487480 ms (missed cycles : 4).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254249 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254249 ms (missed cycles : 4).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094162 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094162 ms (missed cycles : 3).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902012 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902012 ms (missed cycles : 4).[0m ×2 + 13.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987452 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987452 ms (missed cycles : 2).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349775 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349775 ms (missed cycles : 2).[0m ×2 + 15.47sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785933402.71529102 seconds ×3 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758565 ms (missed cycles : 5). + 16.13sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785933403.38202453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758565 ms (missed cycles : 5).[0m ×2 + 16.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785933403.44214702 seconds ×3 + 16.79sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785933404.03717089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.90sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 16.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.91sINFOros2_control_node[2026-08-05 12:36:44.160] [info] Received new action goal ×2 + 16.91sINFOros2_control_node[2026-08-05 12:36:44.161] [info] Accepted new action goal ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4).[0m ×2 + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 12 errors · 63 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581026 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581026 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670677 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670677 ms (missed cycles : 2).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.18sINFOobjective_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 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.18sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.18sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.19sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.07sINFOros2_control_node[2026-08-05 12:37:33.687] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-08-05 12:37:33.687] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949240 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949240 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785933454.86306262 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960531 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.960531 ms (missed cycles : 3).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785933455.67406154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621254 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621254 ms (missed cycles : 4).[0m ×2 + 5.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 5.23sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.25sINFOros2_control_node[2026-08-05 12:37:36.869] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-08-05 12:37:36.869] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921703 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921703 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515917 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515917 ms (missed cycles : 3).[0m ×2 + 7.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×4 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827168 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827168 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332608 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332608 ms (missed cycles : 2).[0m ×2 + 8.94sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.94sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.94sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.94sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.95sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329842 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329842 ms (missed cycles : 2).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771534 ms (missed cycles : 6). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.771534 ms (missed cycles : 6).[0m ×2 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.34sINFOros2_control_node[2026-08-05 12:37:42.959] [info] Received new action goal ×2 + 11.34sINFOros2_control_node[2026-08-05 12:37:42.959] [info] Accepted new action goal ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715921 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715921 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368290 ms (missed cycles : 6). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368290 ms (missed cycles : 6).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868187 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868187 ms (missed cycles : 2).[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.796376 ms (missed cycles : 8). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.796376 ms (missed cycles : 8).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785933466.57421327 seconds ×3 + 15.56sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785933467.17921424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.73sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 15.73sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.73sINFOros2_control_node[2026-08-05 12:37:47.353] [info] Received new action goal ×2 + 15.73sINFOros2_control_node[2026-08-05 12:37:47.353] [info] Accepted new action goal ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442713 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442713 ms (missed cycles : 3).[0m ×2 + 17.00sINFOobjective_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 + 17.00sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470725 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470725 ms (missed cycles : 3).[0m ×2 + 17.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.38sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×12 + 17.39sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×8 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2).[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 3.689035 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689035 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686049 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686049 ms (missed cycles : 2).[0m ×2 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616595 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616595 ms (missed cycles : 3).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642672 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642672 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785933544.51784682 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600418 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600418 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785933545.12134075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-08-05 12:39:05.236] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-05 12:39:05.236] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466610 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466610 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095437 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095437 ms (missed cycles : 2).[0m ×2 + 6.47sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122240 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122240 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192144 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192144 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996316 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996316 ms (missed cycles : 3).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752330 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752330 ms (missed cycles : 2).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 13.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 14.86sINFOobjective_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 + 14.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933555.54168129 seconds ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 15.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 16.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.19sINFOobjective_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 + 16.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 16.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.90sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 16.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.91sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 16.91sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287888 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287888 ms (missed cycles : 7).[0m ×2 + 0.80sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.07sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.07sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.08sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785933377.60013056 seconds ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986179 ms (missed cycles : 5). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986179 ms (missed cycles : 5).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029492 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029492 ms (missed cycles : 2).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765812 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765812 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785933380.27558064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.98sINFOros2_control_node[2026-08-05 12:36:20.479] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-08-05 12:36:20.479] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783197 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783197 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943753 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943753 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535680 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535680 ms (missed cycles : 4).[0m ×2 + 7.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223678 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223678 ms (missed cycles : 2).[0m ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.00233172 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 1 iterations (0.00374887 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X___________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (1.84e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.46sINFOros2_control_node[2026-08-05 12:36:24.962] [info] Received new action goal ×2 + 8.46sINFOros2_control_node[2026-08-05 12:36:24.962] [info] Accepted new action goal ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839481 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839481 ms (missed cycles : 3).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019398 ms (missed cycles : 5). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019398 ms (missed cycles : 5).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893590 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893590 ms (missed cycles : 3).[0m ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (7.16e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.24sINFOobjective_server_nodeFound path in 1 iterations (0.00400588 s). ×2 + 11.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.41sINFOros2_control_node[2026-08-05 12:36:27.911] [info] Received new action goal ×2 + 11.41sINFOros2_control_node[2026-08-05 12:36:27.911] [info] Accepted new action goal ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222451 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222451 ms (missed cycles : 2).[0m ×2 + 11.85sINFOros2_control_node[2026-08-05 12:36:28.353] [info] Received new action goal ×2 + 11.85sINFOros2_control_node[2026-08-05 12:36:28.353] [info] Accepted new action goal ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705169 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705169 ms (missed cycles : 3).[0m ×2 + 13.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006175 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006175 ms (missed cycles : 3).[0m ×2 + 14.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.14sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.14sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.14sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.15sERRORobjective_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: 1785933390.64979601 seconds ×3 + 14.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785933391.46986747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924982 ms (missed cycles : 5). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924982 ms (missed cycles : 5).[0m ×2 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 15.16sINFOros2_control_node[2026-08-05 12:36:31.663] [info] Received new action goal ×2 + 15.16sINFOros2_control_node[2026-08-05 12:36:31.663] [info] Accepted new action goal ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458206 ms (missed cycles : 4). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458206 ms (missed cycles : 4).[0m ×2 + 16.17sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770557 ms (missed cycles : 5). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770557 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 60 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2).[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.75sINFOros2_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 5.023212 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4).[0m ×2 + 1.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Accepted new action goal ×2 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785933356.97065759 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785933357.59671235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785933357.67684770 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785933358.31360364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2).[0m ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625666 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625666 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.50sINFOros2_control_node[2026-08-05 12:36:01.809] [info] Received new action goal ×2 + 7.50sINFOros2_control_node[2026-08-05 12:36:01.809] [info] Accepted new action goal ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816185 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816185 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263503 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263503 ms (missed cycles : 2).[0m ×2 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 9.84sINFOros2_control_node[2026-08-05 12:36:04.146] [info] Received new action goal ×2 + 9.84sINFOros2_control_node[2026-08-05 12:36:04.146] [info] Accepted new action goal ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570151 ms (missed cycles : 4). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570151 ms (missed cycles : 4).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 12.17sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 12.18sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 12.18sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 14.33sINFOobjective_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 + 14.33sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 14.34sERRORobjective_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: 1785933368.65655684 seconds ×3 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 15.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.18sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538849 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538849 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916305 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916305 ms (missed cycles : 2).[0m ×2 + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.93sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (1.82e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 1 iterations (0.00247186 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680860 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680860 ms (missed cycles : 2).[0m ×2 + 8.46sINFOobjective_server_nodeFound path in 1 iterations (0.00583096 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X___________________________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.89sINFOros2_control_node[2026-08-05 12:36:14.884] [info] Received new action goal ×2 + 8.89sINFOros2_control_node[2026-08-05 12:36:14.884] [info] Accepted new action goal ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800800 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800800 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287888 ms (missed cycles : 7). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287888 ms (missed cycles : 7).[0m ×2 + 11.31sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.59sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.59sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.59sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785933377.60013056 seconds ×3 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986179 ms (missed cycles : 5). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986179 ms (missed cycles : 5).[0m ×2 + 12.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029492 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029492 ms (missed cycles : 2).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765812 ms (missed cycles : 4). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765812 ms (missed cycles : 4).[0m ×2 + 14.29sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785933380.27558064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 14.49sINFOros2_control_node[2026-08-05 12:36:20.479] [info] Received new action goal ×2 + 14.49sINFOros2_control_node[2026-08-05 12:36:20.479] [info] Accepted new action goal ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783197 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783197 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943753 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943753 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 63 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251947 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251947 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103179 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103179 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062599 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062599 ms (missed cycles : 2).[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 ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129120 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129120 ms (missed cycles : 4).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247574 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247574 ms (missed cycles : 2).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176576 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176576 ms (missed cycles : 2).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052135 ms (missed cycles : 4). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052135 ms (missed cycles : 4).[0m ×2 + 14.49sERRORobjective_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: 1785933534.04665351 seconds ×3 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149674 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149674 ms (missed cycles : 2).[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785933534.63739324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOobjective_server_nodeFound path in 0 iterations (7.58e-07 s). ×2 + 15.36sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.37sINFOros2_control_node[2026-08-05 12:38:54.924] [info] Received new action goal ×2 + 15.37sINFOros2_control_node[2026-08-05 12:38:54.924] [info] Accepted new action goal ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883664 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883664 ms (missed cycles : 3).[0m ×2 + 16.41sWARNros2_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 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025320 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025320 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 63 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726537 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726537 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262676 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262676 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385962 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385962 ms (missed cycles : 4).[0m ×2 + 2.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700999 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700999 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785933512.28292251 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785933513.02276897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020809 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020809 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-05 12:38:33.247] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-05 12:38:33.247] [info] Accepted new action goal ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449213 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449213 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948013 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948013 ms (missed cycles : 5).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.374430 ms (missed cycles : 7). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.374430 ms (missed cycles : 7).[0m ×2 + 8.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.10sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (6.72e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 1 iterations (0.00257793 s). ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500761 ms (missed cycles : 3). + 8.56sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500761 ms (missed cycles : 3).[0m ×2 + 8.61sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.63sINFOros2_control_node[2026-08-05 12:38:37.564] [info] Received new action goal ×2 + 8.63sINFOros2_control_node[2026-08-05 12:38:37.564] [info] Accepted new action goal ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517840 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517840 ms (missed cycles : 3).[0m ×2 + 10.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 11.10sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 11.10sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 12.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.96sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 12.96sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 14.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 14.18sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 14.19sERRORobjective_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: 1785933523.12803674 seconds ×3 + 14.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 15.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.04sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 15.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 16.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 0.49sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.58sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 1.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255744 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255744 ms (missed cycles : 4).[0m ×2 + 6.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.62sINFOros2_control_node[2026-08-05 12:35:32.644] [info] Received new action goal ×2 + 6.62sINFOros2_control_node[2026-08-05 12:35:32.644] [info] Accepted new action goal ×2 + 6.64sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873205 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873205 ms (missed cycles : 3).[0m ×2 + 7.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×4 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407134 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407134 ms (missed cycles : 4).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142486 ms (missed cycles : 5). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.142486 ms (missed cycles : 5).[0m ×2 + 10.33sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 10.35sINFOros2_control_node[2026-08-05 12:35:36.374] [info] Received new action goal ×2 + 10.35sINFOros2_control_node[2026-08-05 12:35:36.374] [info] Accepted new action goal ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467861 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467861 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 13.66sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 13.66sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.68sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 13.68sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 14.11sINFOobjective_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 + 14.12sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 14.12sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 14.14sERRORobjective_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: 1785933340.16509700 seconds ×3 + 14.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 15.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.68sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 15.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.70sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 15.70sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.92sERRORobjective_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: 1785933555.54168129 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×14 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.97sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×4 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395047 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395047 ms (missed cycles : 3).[0m ×2 + 7.29sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.29sINFOros2_control_node[2026-08-05 12:39:20.909] [info] Received new action goal ×2 + 7.29sINFOros2_control_node[2026-08-05 12:39:20.910] [info] Accepted new action goal ×2 + 7.29sINFOros2_control_node[2026-08-05 12:39:20.910] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804212 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804212 ms (missed cycles : 3).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177598 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177598 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825436 ms (missed cycles : 5). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825436 ms (missed cycles : 5).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360119 ms (missed cycles : 6). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360119 ms (missed cycles : 6).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230547 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230547 ms (missed cycles : 2).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3).[0m ×2 + 13.93sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Got request to cancel active goal. ×2 + 13.93sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Canceling active goal... ×2 + 13.93sERRORobjective_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: 1785933567.55073571 seconds ×3 + 14.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785933568.19735527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2).[0m ×2 + 16.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785933569.63748598 seconds ×3 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3).[0m ×2 + 16.61sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785933570.22730327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.61sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.61sINFOobjective_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 + 16.61sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.61sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785933570.22982812 seconds ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 55 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247574 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176576 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176576 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052135 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052135 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sERRORobjective_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: 1785933534.04665351 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149674 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149674 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785933534.63739324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (7.58e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.77sINFOros2_control_node[2026-08-05 12:38:54.924] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-05 12:38:54.924] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883664 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883664 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025320 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025320 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688659 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688659 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608511 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608511 ms (missed cycles : 3).[0m ×2 + 7.78sINFOros2_control_node[2026-08-05 12:38:58.933] [info] Received new action goal ×2 + 7.78sINFOros2_control_node[2026-08-05 12:38:58.933] [info] Accepted new action goal ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661298 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661298 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689035 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689035 ms (missed cycles : 3).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686049 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686049 ms (missed cycles : 2).[0m ×2 + 10.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616595 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616595 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642672 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642672 ms (missed cycles : 4).[0m ×2 + 13.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785933544.51784682 seconds ×3 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600418 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600418 ms (missed cycles : 3).[0m ×2 + 13.97sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785933545.12134075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.08sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.08sINFOros2_control_node[2026-08-05 12:39:05.236] [info] Received new action goal ×2 + 14.08sINFOros2_control_node[2026-08-05 12:39:05.236] [info] Accepted new action goal ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466610 ms (missed cycles : 4). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466610 ms (missed cycles : 4).[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095437 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095437 ms (missed cycles : 2).[0m ×2 + 15.99sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 15.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 10.1s | 24 errors · 60 warnings · 257 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785933470.17667413 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743796 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743796 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785933470.82130766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.98sINFOros2_control_node[2026-08-05 12:37:50.985] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-05 12:37:50.985] [info] Accepted new action goal ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489110 ms (missed cycles : 4). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489110 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOobjective_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 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785933472.65182900 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988060 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988060 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785933473.27332759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-05 12:37:53.438] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-05 12:37:53.438] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478062 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478062 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308141 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308141 ms (missed cycles : 2).[0m ×2 + 7.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595136 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595136 ms (missed cycles : 4).[0m ×2 + 7.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.36sINFOros2_control_node[2026-08-05 12:37:56.356] [info] Received new action goal ×2 + 7.36sINFOros2_control_node[2026-08-05 12:37:56.356] [info] Accepted new action goal ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883491 ms (missed cycles : 4). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883491 ms (missed cycles : 4).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793485 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793485 ms (missed cycles : 3).[0m ×2 + 9.46sINFOros2_control_node[2026-08-05 12:37:58.463] [info] Received new action goal ×2 + 9.46sINFOros2_control_node[2026-08-05 12:37:58.463] [info] Accepted new action goal ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254129 ms (missed cycles : 3). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254129 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486282 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486282 ms (missed cycles : 3).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875351 ms (missed cycles : 5). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875351 ms (missed cycles : 5).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081319 ms (missed cycles : 4). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081319 ms (missed cycles : 4).[0m ×2 + 13.77sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785933482.76799703 seconds ×3 + 14.43sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785933483.42966509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.61sINFOobjective_server_nodeFound path in 5 iterations (0.00493061 s). ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681742 ms (missed cycles : 4). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681742 ms (missed cycles : 4).[0m ×2 + 14.66sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 14.69sINFOros2_control_node[2026-08-05 12:38:03.689] [info] Received new action goal ×2 + 14.69sINFOros2_control_node[2026-08-05 12:38:03.689] [info] Accepted new action goal ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879102 ms (missed cycles : 4). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879102 ms (missed cycles : 4).[0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721056 ms (missed cycles : 3). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721056 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 5.1s | 37 warnings · 167 info |
+ 0.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785933403.44214702 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785933404.03717089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-08-05 12:36:44.160] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-08-05 12:36:44.161] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785933406.16733027 seconds ×3 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841377 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841377 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785933407.75732231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623164 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623164 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_node[2026-08-05 12:36:48.443] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.75sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.95sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.44sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 6.44sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 6.58sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.63sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [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 + 6.63sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [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 + 6.63sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.65sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.99sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 + 7.01sINFOobjective_server_node[0;93m2026-08-05 12:36:50.431998640 [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 + 7.01sINFOobjective_server_node[0;93m2026-08-05 12:36:50.432025196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3).[0m ×2 + 8.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 8.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785933412.31128621 seconds ×3 + 9.58sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785933413.00286674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 9.66sINFOobjective_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 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2).[0m ×2 + 9.67sINFOobjective_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 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 9.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 9.99sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Received new action goal ×2 + 9.99sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Accepted new action goal ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 152 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902012 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902012 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987452 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987452 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349775 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785933402.71529102 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758565 ms (missed cycles : 5). + 3.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785933403.38202453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758565 ms (missed cycles : 5).[0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785933403.44214702 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785933404.03717089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-05 12:36:44.160] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-05 12:36:44.161] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785933406.16733027 seconds ×3 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841377 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841377 ms (missed cycles : 2).[0m ×2 + 7.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785933407.75732231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623164 ms (missed cycles : 4). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623164 ms (missed cycles : 4).[0m ×2 + 8.54sINFOobjective_server_node[2026-08-05 12:36:48.443] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 9.27sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.27sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.47sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.96sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 9.96sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 10.10sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.16sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 10.16sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.16sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.18sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.51sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 3.6s | 21 errors · 34 warnings · 245 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-05 12:37:42.959] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-05 12:37:42.959] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715921 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715921 ms (missed cycles : 2).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368290 ms (missed cycles : 6). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368290 ms (missed cycles : 6).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868187 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868187 ms (missed cycles : 2).[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.796376 ms (missed cycles : 8). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.796376 ms (missed cycles : 8).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785933466.57421327 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 ×6 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785933467.17921424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.51sINFOros2_control_node[2026-08-05 12:37:47.353] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-05 12:37:47.353] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442713 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442713 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470725 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470725 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.16sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.17sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2).[0m ×2 + 7.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 7.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785933470.17667413 seconds ×3 + 7.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743796 ms (missed cycles : 3). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743796 ms (missed cycles : 3).[0m ×2 + 7.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785933470.82130766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 8.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 8.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 8.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 8.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 8.14sINFOros2_control_node[2026-08-05 12:37:50.985] [info] Received new action goal ×2 + 8.14sINFOros2_control_node[2026-08-05 12:37:50.985] [info] Accepted new action goal ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489110 ms (missed cycles : 4). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489110 ms (missed cycles : 4).[0m ×2 + 9.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785933472.65182900 seconds ×3 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988060 ms (missed cycles : 3). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988060 ms (missed cycles : 3).[0m ×2 + 10.43sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785933473.27332759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.5s | 21 errors · 29 warnings · 227 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.796376 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.796376 ms (missed cycles : 8).[0m ×2 + 0.01sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785933466.57421327 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785933467.17921424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.79sINFOros2_control_node[2026-08-05 12:37:47.353] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-05 12:37:47.353] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442713 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442713 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470725 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470725 ms (missed cycles : 3).[0m ×2 + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.44sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.45sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2).[0m ×2 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785933470.17667413 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743796 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743796 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785933470.82130766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.42sINFOros2_control_node[2026-08-05 12:37:50.985] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-05 12:37:50.985] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489110 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489110 ms (missed cycles : 4).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785933472.65182900 seconds ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988060 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988060 ms (missed cycles : 3).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785933473.27332759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.88sINFOros2_control_node[2026-08-05 12:37:53.438] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-08-05 12:37:53.438] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478062 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478062 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308141 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308141 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 3 errors · 31 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360119 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360119 ms (missed cycles : 6).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230547 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230547 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_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 + 3.42sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Canceling active goal... ×2 + 3.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933567.55073571 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785933568.19735527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785933569.63748598 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785933570.22730327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.10sINFOobjective_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 + 6.10sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785933570.22982812 seconds ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364396 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364396 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785933570.82217336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785933570.82266140 seconds ×3 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 7.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785933571.42041016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924695 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924695 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 29 warnings · 552 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.07sINFOobjective_server_node[2026-08-05 12:35:21.867] [moveit_pro_license] [info] ×2 + 0.07sINFOobjective_server_node************************************************* ×4 + 0.07sINFOobjective_server_node* MoveIt Pro License ×2 + 0.07sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.22sINFOobjective_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 + 0.22sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.24sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.24sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.24sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.24sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.24sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.24sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.24sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.24sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.50sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.50sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.84sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.85sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.85sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.85sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.85sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.96sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150454 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150454 ms (missed cycles : 2).[0m ×2 + 1.08sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.08sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.08sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.08sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.09sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.09sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.14sINFOcomponent_container_mt[2026-08-05 12:35:22.944] [moveit_pro_license] [info] ×2 + 1.14sINFOcomponent_container_mt************************************************* ×4 + 1.14sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.14sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.36sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.39sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.39sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.42sINFOros2-3process has finished cleanly [pid 8958] ×2 + 1.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.54sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.54sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.56sINFOros2_control_node[2026-08-05 12:35:23.362] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.56sINFOros2_control_node[2026-08-05 12:35:23.362] [info] Controller state will be published at 50 Hz. ×2 + 1.57sINFOros2_control_node[2026-08-05 12:35:23.367] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.86sINFOros2-6process has finished cleanly [pid 8961] ×2 + 1.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.91sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.91sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.91sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.91sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.91sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.91sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.91sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.92sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.92sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.92sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.22sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.22sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 2.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 2.24sINFOros2-5process has finished cleanly [pid 8960] ×2 + 2.29sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.29sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.29sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.29sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.29sINFOforce_torque_sensor_broadcasterconfigure successful + 2.29sINFOros2_control_nodeconfigure successful[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.30sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 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: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 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 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.59sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.59sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.59sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.59sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 2.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 2.63sINFOros2-2process has finished cleanly [pid 8957] ×2 + 2.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.64sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.64sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.64sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.97sINFOros2-4process has finished cleanly [pid 8959] ×2 + 2.98sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.98sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.98sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.98sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 3.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 3.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 3.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.11sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.11sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.11sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.14sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 3.14sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.43sINFOros2-7process has finished cleanly [pid 8962] ×2 + 3.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 3.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 3.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.56sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sINFOros2-8process has finished cleanly [pid 8963] ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 4.80sWARNros2_control_nodeCamera render tick took 1.79 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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 6.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 6.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 7.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 8.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 25 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467861 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467861 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.61sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 2.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.62sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785933340.16509700 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 + 7.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 22 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902012 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902012 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987452 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987452 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349775 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785933402.71529102 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758565 ms (missed cycles : 5). + 3.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785933403.38202453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758565 ms (missed cycles : 5).[0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785933403.44214702 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785933404.03717089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-05 12:36:44.160] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-05 12:36:44.161] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785933406.16733027 seconds ×3 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-05 12:35:53.672] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-05 12:35:53.672] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4).[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785933356.97065759 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785933357.59671235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785933357.67684770 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785933358.31360364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2).[0m ×2 + 4.77sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Accepted new action goal ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_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: 1785933555.54168129 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 22 warnings · 460 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.01sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 8958] ×2 + 0.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.19sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.19sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.362] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.362] [info] Controller state will be published at 50 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.367] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 8961] ×2 + 0.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.56sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.56sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.57sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.57sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.57sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.58sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.58sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2).[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.87sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.87sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8960] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.95sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.24sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.28sINFOros2-2process has finished cleanly [pid 8957] ×2 + 1.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.62sINFOros2-4process has finished cleanly [pid 8959] ×2 + 1.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 1.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.80sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.09sINFOros2-7process has finished cleanly [pid 8962] ×2 + 2.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 2.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 2.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.21sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 2.21sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sINFOros2-8process has finished cleanly [pid 8963] ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 3.46sWARNros2_control_nodeCamera render tick took 1.79 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 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_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 + 6.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.99sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 28 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_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: 1785933555.54168129 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4).[0m ×2 + 7.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395047 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395047 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3).[0m ×2 + 1.03sINFOobjective_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 + 1.04sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Got request to cancel active goal. ×2 + 1.04sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Canceling active goal... ×2 + 1.04sERRORobjective_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: 1785933567.55073571 seconds ×3 + 1.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785933568.19735527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785933569.63748598 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785933570.22730327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.72sINFOobjective_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 + 3.72sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785933570.22982812 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364396 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364396 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785933570.82217336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785933570.82266140 seconds ×3 + 4.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785933571.42041016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924695 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924695 ms (missed cycles : 2).[0m ×2 + 6.16sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752966 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752966 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3).[0m ×2 + 1.03sINFOobjective_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 + 1.04sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Got request to cancel active goal. ×2 + 1.04sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Canceling active goal... ×2 + 1.04sERRORobjective_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: 1785933567.55073571 seconds ×3 + 1.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785933568.19735527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785933569.63748598 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785933570.22730327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.72sINFOobjective_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 + 3.72sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785933570.22982812 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364396 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364396 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785933570.82217336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785933570.82266140 seconds ×3 + 4.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785933571.42041016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924695 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924695 ms (missed cycles : 2).[0m ×2 + 6.16sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752966 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752966 ms (missed cycles : 5).[0m ×2 + 6.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785933573.43054605 seconds ×3 + 6.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [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 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.43sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.11sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.14sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.431998640 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.432025196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785933412.31128621 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785933413.00286674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467861 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467861 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.61sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 2.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.62sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785933340.16509700 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893590 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893590 ms (missed cycles : 3).[0m ×2 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.41sINFOobjective_server_nodeFound path in 0 iterations (7.16e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.49sINFOobjective_server_nodeFound path in 1 iterations (0.00400588 s). ×2 + 0.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.67sINFOros2_control_node[2026-08-05 12:36:27.911] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-08-05 12:36:27.911] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222451 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222451 ms (missed cycles : 2).[0m ×2 + 1.11sINFOros2_control_node[2026-08-05 12:36:28.353] [info] Received new action goal ×2 + 1.11sINFOros2_control_node[2026-08-05 12:36:28.353] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705169 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705169 ms (missed cycles : 3).[0m ×2 + 2.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006175 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006175 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.40sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.40sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.40sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sERRORobjective_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: 1785933390.64979601 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785933391.46986747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924982 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924982 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 4.42sINFOros2_control_node[2026-08-05 12:36:31.663] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-05 12:36:31.663] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458206 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.458206 ms (missed cycles : 4).[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770557 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.770557 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902012 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902012 ms (missed cycles : 4).[0m ×2 + 0.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987452 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987452 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349775 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349775 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785933402.71529102 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758565 ms (missed cycles : 5). + 3.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785933403.38202453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758565 ms (missed cycles : 5).[0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785933403.44214702 seconds ×3 + 4.14sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785933404.03717089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-05 12:36:44.160] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-05 12:36:44.161] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 23 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254129 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254129 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486282 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486282 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875351 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875351 ms (missed cycles : 5).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081319 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.081319 ms (missed cycles : 4).[0m ×2 + 3.43sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.43sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785933482.76799703 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785933483.42966509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_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 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOobjective_server_nodeFound path in 5 iterations (0.00493061 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681742 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681742 ms (missed cycles : 4).[0m ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.35sINFOros2_control_node[2026-08-05 12:38:03.689] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-08-05 12:38:03.689] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879102 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879102 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721056 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721056 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726537 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726537 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262676 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262676 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385962 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385962 ms (missed cycles : 4).[0m ×2 + 2.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700999 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700999 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785933512.28292251 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785933513.02276897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020809 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020809 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-05 12:38:33.247] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-05 12:38:33.247] [info] Accepted new action goal ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449213 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449213 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948013 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948013 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2).[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 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 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 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 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 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 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 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 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 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 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 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_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: 1785933555.54168129 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_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: 1785933555.54168129 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_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: 1785933555.54168129 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985391 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sERRORobjective_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: 1785933555.54168129 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 4.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360119 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360119 ms (missed cycles : 6).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230547 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230547 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_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 + 3.42sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Canceling active goal... ×2 + 3.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933567.55073571 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.49sINFOros2_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 + 4.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785933568.19735527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785933569.63748598 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785933570.22730327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.10sINFOobjective_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 + 6.10sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785933570.22982812 seconds ×3 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467861 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467861 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.61sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 2.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.62sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 3.06sINFOobjective_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 + 3.07sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 3.08sERRORobjective_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: 1785933340.16509700 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1785933340.16509700 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1785933340.16509700 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1785933340.16509700 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 22 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982696 ms (missed cycles : 4).[0m ×2 + 0.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498965 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-05 12:35:39.703] [info] Accepted new action goal ×2 + 2.04sINFOobjective_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 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.149] [info] Got request to cancel active goal. ×2 + 2.05sINFOros2_control_node[2026-08-05 12:35:40.150] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1785933340.16509700 seconds ×3 + 2.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153147 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785933340.79954791 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785933340.90966439 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318056 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785933341.53047585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-08-05 12:35:41.724] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021796 ms (missed cycles : 4).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.937010 ms (missed cycles : 5).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[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 3.287599 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2).[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_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 5.023212 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4).[0m ×2 + 1.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Accepted new action goal ×2 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785933356.97065759 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785933357.59671235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785933357.67684770 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785933358.31360364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2).[0m ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2).[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_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 5.023212 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4).[0m ×2 + 1.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Accepted new action goal ×2 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785933356.97065759 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785933357.59671235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785933357.67684770 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785933358.31360364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2).[0m ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2).[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 3.287599 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2).[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_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 5.023212 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4).[0m ×2 + 1.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Accepted new action goal ×2 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785933356.97065759 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785933357.59671235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785933357.67684770 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785933358.31360364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2).[0m ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2).[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 3.287599 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287599 ms (missed cycles : 2).[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_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 5.023212 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023212 ms (missed cycles : 4).[0m ×2 + 1.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Received new action goal ×2 + 1.27sINFOros2_control_node[2026-08-05 12:35:55.583] [info] Accepted new action goal ×2 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551929 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785933356.97065759 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884601 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785933357.59671235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785933357.67684770 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785933358.31360364 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857025 ms (missed cycles : 2).[0m ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-05 12:35:58.442] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102656 ms (missed cycles : 7).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772190 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895066 ms (missed cycles : 2).[0m ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-08-05 12:36:06.495] [info] Accepted new action goal ×2 + 0.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061495 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138168 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-08-05 12:36:08.643] [info] Canceling active goal... ×2 + 2.67sERRORobjective_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: 1785933368.65655684 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142482 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785933369.29770732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-08-05 12:36:09.491] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854476 ms (missed cycles : 5).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068432 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 112 info |
+ 0.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785933403.44214702 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785933404.03717089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 0.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-08-05 12:36:44.160] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-08-05 12:36:44.161] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622522 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385328 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785933406.16733027 seconds ×3 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841377 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841377 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785933407.75732231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623164 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.623164 ms (missed cycles : 4).[0m ×2 + 5.02sINFOobjective_server_node[2026-08-05 12:36:48.443] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.75sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.95sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.44sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 6.44sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 6.58sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.63sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [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 + 6.63sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [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 + 6.63sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.65sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.99sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [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 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.43sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.11sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.14sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.431998640 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.432025196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785933412.31128621 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785933413.00286674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [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 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.43sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.11sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.14sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.431998640 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.432025196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785933412.31128621 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785933413.00286674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [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 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.43sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.11sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.14sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.431998640 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.432025196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785933412.31128621 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785933413.00286674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501265 ms (missed cycles : 3).[0m ×2 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174302097 [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 + 0.23sINFOobjective_server_node[0;93m2026-08-05 12:36:49.174330047 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.43sINFOobjective_server_node[2026-08-05 12:36:49.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865060008 [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 + 0.92sINFOobjective_server_node[0;93m2026-08-05 12:36:49.865090675 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916925 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-05 12:36:50.000] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.11sINFOobjective_server_node[0;93m2026-08-05 12:36:50.055691266 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059170675 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-05 12:36:50.059192171 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.14sINFOobjective_server_node[2026-08-05 12:36:50.079] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-05 12:36:50.413097106 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.431998640 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-05 12:36:50.432025196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556698 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858171 ms (missed cycles : 3).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785933412.31128621 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785933413.00286674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849655 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-05 12:36:53.410] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694672 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 12 errors · 23 warnings · 111 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 ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 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 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-05 12:37:42.959] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-05 12:37:42.959] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715921 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715921 ms (missed cycles : 2).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368290 ms (missed cycles : 6). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.368290 ms (missed cycles : 6).[0m ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868187 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868187 ms (missed cycles : 2).[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.796376 ms (missed cycles : 8). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.796376 ms (missed cycles : 8).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785933466.57421327 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 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785933467.17921424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-08-05 12:37:47.353] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-05 12:37:47.353] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442713 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442713 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470725 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470725 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×12 + 6.17sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×8 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 20 warnings · 162 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537531 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785933470.17667413 seconds ×3 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743796 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743796 ms (missed cycles : 3).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785933470.82130766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 1.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.98sINFOros2_control_node[2026-08-05 12:37:50.985] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-05 12:37:50.985] [info] Accepted new action goal ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489110 ms (missed cycles : 4). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.489110 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785933472.65182900 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988060 ms (missed cycles : 3). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988060 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785933473.27332759 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-05 12:37:53.438] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-05 12:37:53.438] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478062 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478062 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308141 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308141 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726537 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726537 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262676 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262676 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385962 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385962 ms (missed cycles : 4).[0m ×2 + 2.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700999 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700999 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785933512.28292251 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785933513.02276897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020809 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020809 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (5.93e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-08-05 12:38:33.247] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-05 12:38:33.247] [info] Accepted new action goal ×2 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449213 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449213 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948013 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948013 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 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 2.628276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628276 ms (missed cycles : 2).[0m ×2 + 0.48sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-08-05 12:38:40.036] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947160 ms (missed cycles : 3).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 2.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-05 12:38:41.897] [info] Accepted new action goal ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.723747 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-05 12:38:43.113] [info] Canceling active goal... ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933523.12803674 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785933523.79623079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_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 4.839351 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839351 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-05 12:38:43.980] [info] Accepted new action goal ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334148 ms (missed cycles : 3).[0m ×2 + 6.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445504 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247574 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247574 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176576 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176576 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052135 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052135 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sERRORobjective_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: 1785933534.04665351 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149674 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149674 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785933534.63739324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (7.58e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.77sINFOros2_control_node[2026-08-05 12:38:54.924] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-05 12:38:54.924] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883664 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883664 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_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 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025320 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025320 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689035 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689035 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686049 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686049 ms (missed cycles : 2).[0m ×2 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616595 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616595 ms (missed cycles : 3).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642672 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642672 ms (missed cycles : 4).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785933544.51784682 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.86sINFOros2_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 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600418 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600418 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785933545.12134075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.56sINFOros2_control_node[2026-08-05 12:39:05.236] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-05 12:39:05.236] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466610 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466610 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095437 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095437 ms (missed cycles : 2).[0m ×2 + 6.47sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_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 + 1.92sERRORobjective_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: 1785933555.54168129 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.97sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395047 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395047 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813749 ms (missed cycles : 5).[0m ×2 + 0.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878660 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_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 + 1.92sERRORobjective_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: 1785933555.54168129 seconds ×3 + 1.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203507 ms (missed cycles : 3).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785933556.17044210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785933556.25058150 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462399 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785933556.84321380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785933556.87069273 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785933557.46584129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.97sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-05 12:39:17.589] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939192 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004023 ms (missed cycles : 4).[0m ×2 + 6.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395047 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395047 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360119 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360119 ms (missed cycles : 6).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230547 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230547 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213455 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991540 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_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 + 3.42sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-05 12:39:27.546] [info] Canceling active goal... ×2 + 3.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785933567.55073571 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.49sINFOros2_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 + 4.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785933568.19735527 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095933 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785933569.63748598 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377929 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785933570.22730327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.10sINFOobjective_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 + 6.10sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785933570.22982812 seconds ×3 | ||||
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/__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 · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.3s | 38 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/2026-08-05-12-35-16-507885-75b2b10b634e-8908 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.74sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.76sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.76sINFOcontroller_managerupdate rate is 600 Hz + 1.76sINFOcontroller_managerOverruns handling is : enabled + 1.76sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.76sWARNcontroller_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. + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229355 ms (missed cycles : 2). + 1.95sINFOros2_control_node-1process started with pid [8956] ×2 + 1.95sINFOmove_group-9process started with pid [8993] ×2 + 1.95sINFOparameter_manager_node-10process started with pid [8994] ×2 + 1.95sINFOwaypoint_manager_node-11process started with pid [8995] ×2 + 1.95sINFOmove_joint_resampler_node-12process started with pid [8996] ×2 + 1.95sINFOmove_end_effector_resampler_node-13process started with pid [8997] ×2 + 1.95sINFOobjective_server_node_main-14process started with pid [8998] ×2 + 1.95sINFOcomponent_container_mt-15process started with pid [8999] ×2 + 1.95sINFOcomponent_container_mt-16process started with pid [9000] ×2 + 1.96sINFOexecute_objective_bridge-17process started with pid [9001] ×2 + 1.96sINFOui_teleop_bridge-18process started with pid [9002] ×2 + 1.96sINFOweb_bridge-19process started with pid [9003] ×2 + 1.96sINFOtf2_web_republisher_node-20process started with pid [9067] ×2 + 1.96sINFOvideo_server-21process started with pid [9068] ×2 + 1.96sINFOweb_bridge_auth_proxy-22process started with pid [9069] ×2 + 1.96sINFOweb_video_auth_proxy-23process started with pid [9070] ×2 + 1.96sINFOros2-2process started with pid [8957] ×2 + 1.96sINFOros2-3process started with pid [8958] ×2 + 1.97sINFOros2-4process started with pid [8959] ×2 + 1.97sINFOros2-5process started with pid [8960] ×2 + 1.97sINFOros2-6process started with pid [8961] ×2 + 1.97sINFOros2-7process started with pid [8962] ×2 + 1.97sINFOros2-8process started with pid [8963] ×2 + 2.01sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.01sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.01sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.01sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.01sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.01sWARNros2_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 + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229355 ms (missed cycles : 2).[0m ×2 + 2.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.27sINFOcontroller_managerReceived robot description from topic. + 2.27sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.27sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.28sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.30sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.30sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.42sINFOvideo_server2026/08/05 12:35:19 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.42sINFOvideo_server2026/08/05 12:35:19 INF configuration loaded from /tmp/moveit-webrtc-1fnsixiz/mediamtx.yml ×2 + 2.42sINFOvideo_server2026/08/05 12:35:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.42sINFOvideo_server2026/08/05 12:35:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702458 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702458 ms (missed cycles : 3).[0m ×2 + 3.18sINFOmove_group[2026-08-05 12:35:20.403] [moveit_pro_license] [info] ×2 + 3.18sINFOmove_group************************************************* ×4 + 3.18sINFOmove_group* MoveIt Pro License ×2 + 3.18sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOwaypoint_manager_node[2026-08-05 12:35:20.588] [moveit_pro_license] [info] ×2 + 3.36sINFOwaypoint_manager_node************************************************* ×4 + 3.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.47sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.47sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.47sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.50sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.62sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.63sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.63sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.69sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.69sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.70sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.70sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.70sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.84sINFOmove_group ×4 + 3.85sINFOmove_group[92mYou can start planning now![0m ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.895788 ms (missed cycles : 6). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.895788 ms (missed cycles : 6).[0m ×2 + 4.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.64sINFOobjective_server_node[2026-08-05 12:35:21.867] [moveit_pro_license] [info] ×2 + 4.64sINFOobjective_server_node************************************************* ×4 + 4.64sINFOobjective_server_node* MoveIt Pro License ×2 + 4.64sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.79sINFOobjective_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 + 4.79sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.81sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.81sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.81sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.81sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.81sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.81sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.81sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.81sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.07sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.07sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.41sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.41sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.41sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.41sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.41sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.41sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.42sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.42sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.42sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.42sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.42sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.42sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.42sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.53sWARNobjective_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 + 5.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 5.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 5.64sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150454 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150454 ms (missed cycles : 2).[0m ×2 + 5.65sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.65sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.65sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.65sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.65sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.66sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.66sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.66sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.71sINFOcomponent_container_mt[2026-08-05 12:35:22.944] [moveit_pro_license] [info] ×2 + 5.71sINFOcomponent_container_mt************************************************* ×4 + 5.71sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.71sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.93sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 5.96sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.96sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.96sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.96sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.99sINFOros2-3process has finished cleanly [pid 8958] ×2 + 6.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 6.06sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 6.10sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.10sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.11sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.11sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.13sINFOros2_control_node[2026-08-05 12:35:23.362] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.13sINFOros2_control_node[2026-08-05 12:35:23.362] [info] Controller state will be published at 50 Hz. ×2 + 6.14sINFOros2_control_node[2026-08-05 12:35:23.367] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.40sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 6.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 6.43sINFOros2-6process has finished cleanly [pid 8961] ×2 + 6.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.48sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.48sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.48sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.48sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.49sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2).[0m ×2 + 6.79sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.79sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.79sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.79sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.79sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 6.79sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 6.81sINFOros2-5process has finished cleanly [pid 8960] ×2 + 6.86sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.86sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.86sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.86sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.86sINFOforce_torque_sensor_broadcasterconfigure successful + 6.86sINFOros2_control_nodeconfigure successful[0m ×2 + 6.87sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.87sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.87sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 6.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 6.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.16sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.16sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.16sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.16sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.16sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 7.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 7.20sINFOros2-2process has finished cleanly [pid 8957] ×2 + 7.20sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.21sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.21sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.21sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.21sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.21sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.21sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.21sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.22sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.22sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.45sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.54sINFOros2-4process has finished cleanly [pid 8959] ×2 + 7.55sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.55sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.55sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.55sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 7.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 7.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 7.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.71sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 7.71sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.00sINFOros2-7process has finished cleanly [pid 8962] ×2 + 8.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 8.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 8.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.13sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 8.13sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.45sINFOros2-8process has finished cleanly [pid 8963] ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 9.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 9.37sWARNros2_control_nodeCamera render tick took 1.79 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 9.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 10.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 10.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 327 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 8957] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 8959] ×2 + 0.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.39sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 0.55sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.84sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.90sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.90sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.97sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOros2-8process has finished cleanly [pid 8963] ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 2.21sWARNros2_control_nodeCamera render tick took 1.79 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 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 3.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 5.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.75sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 416 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2).[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.34sINFOros2-5process has finished cleanly [pid 8960] ×2 + 0.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOforce_torque_sensor_broadcasterconfigure successful + 0.39sINFOros2_control_nodeconfigure successful[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.40sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.73sINFOros2-2process has finished cleanly [pid 8957] ×2 + 0.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.75sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.75sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.98sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.07sINFOros2-4process has finished cleanly [pid 8959] ×2 + 1.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.07sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 1.16sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.24sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 1.24sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.52sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.52sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.52sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2-7process has finished cleanly [pid 8962] ×2 + 1.58sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.58sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 1.66sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.98sINFOros2-8process has finished cleanly [pid 8963] ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 2.90sWARNros2_control_nodeCamera render tick took 1.79 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 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.43sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 327 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 8957] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.29sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 8959] ×2 + 0.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.39sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 0.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.52sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.55sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 0.55sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.84sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.90sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.90sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.97sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOros2-8process has finished cleanly [pid 8963] ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 2.21sWARNros2_control_nodeCamera render tick took 1.79 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 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 3.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 5.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_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 + 5.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.75sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 5.75sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 19 warnings · 452 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.01sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 8958] ×2 + 0.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.19sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.19sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.362] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.362] [info] Controller state will be published at 50 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.367] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 8961] ×2 + 0.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.56sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.56sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.57sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.57sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.57sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.58sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.58sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2).[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.87sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.87sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8960] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.95sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.24sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.28sINFOros2-2process has finished cleanly [pid 8957] ×2 + 1.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.62sINFOros2-4process has finished cleanly [pid 8959] ×2 + 1.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 1.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.80sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.09sINFOros2-7process has finished cleanly [pid 8962] ×2 + 2.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 2.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 2.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.21sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 2.21sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sINFOros2-8process has finished cleanly [pid 8963] ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 3.46sWARNros2_control_nodeCamera render tick took 1.79 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 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_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 + 6.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-05-12-35-16-507885-75b2b10b634e-8908 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.74sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.76sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.76sINFOcontroller_managerupdate rate is 600 Hz + 1.76sINFOcontroller_managerOverruns handling is : enabled + 1.76sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.76sWARNcontroller_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. + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229355 ms (missed cycles : 2). + 1.95sINFOros2_control_node-1process started with pid [8956] ×2 + 1.95sINFOmove_group-9process started with pid [8993] ×2 + 1.95sINFOparameter_manager_node-10process started with pid [8994] ×2 + 1.95sINFOwaypoint_manager_node-11process started with pid [8995] ×2 + 1.95sINFOmove_joint_resampler_node-12process started with pid [8996] ×2 + 1.95sINFOmove_end_effector_resampler_node-13process started with pid [8997] ×2 + 1.95sINFOobjective_server_node_main-14process started with pid [8998] ×2 + 1.95sINFOcomponent_container_mt-15process started with pid [8999] ×2 + 1.95sINFOcomponent_container_mt-16process started with pid [9000] ×2 + 1.96sINFOexecute_objective_bridge-17process started with pid [9001] ×2 + 1.96sINFOui_teleop_bridge-18process started with pid [9002] ×2 + 1.96sINFOweb_bridge-19process started with pid [9003] ×2 + 1.96sINFOtf2_web_republisher_node-20process started with pid [9067] ×2 + 1.96sINFOvideo_server-21process started with pid [9068] ×2 + 1.96sINFOweb_bridge_auth_proxy-22process started with pid [9069] ×2 + 1.96sINFOweb_video_auth_proxy-23process started with pid [9070] ×2 + 1.96sINFOros2-2process started with pid [8957] ×2 + 1.96sINFOros2-3process started with pid [8958] ×2 + 1.97sINFOros2-4process started with pid [8959] ×2 + 1.97sINFOros2-5process started with pid [8960] ×2 + 1.97sINFOros2-6process started with pid [8961] ×2 + 1.97sINFOros2-7process started with pid [8962] ×2 + 1.97sINFOros2-8process started with pid [8963] ×2 + 2.01sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.01sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.01sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.01sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.01sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.01sWARNros2_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 + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229355 ms (missed cycles : 2).[0m ×2 + 2.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.27sINFOcontroller_managerReceived robot description from topic. + 2.27sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.27sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.28sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.30sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.30sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.42sINFOvideo_server2026/08/05 12:35:19 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.42sINFOvideo_server2026/08/05 12:35:19 INF configuration loaded from /tmp/moveit-webrtc-1fnsixiz/mediamtx.yml ×2 + 2.42sINFOvideo_server2026/08/05 12:35:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.42sINFOvideo_server2026/08/05 12:35:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 19 warnings · 452 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.01sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 8958] ×2 + 0.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.19sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.19sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.362] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.362] [info] Controller state will be published at 50 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.367] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 8961] ×2 + 0.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.56sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.56sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.57sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.57sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.57sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.58sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.58sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2).[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.87sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.87sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8960] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.95sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.24sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.28sINFOros2-2process has finished cleanly [pid 8957] ×2 + 1.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.62sINFOros2-4process has finished cleanly [pid 8959] ×2 + 1.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 1.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.80sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.09sINFOros2-7process has finished cleanly [pid 8962] ×2 + 2.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 2.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 2.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.21sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 2.21sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sINFOros2-8process has finished cleanly [pid 8963] ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 3.46sWARNros2_control_nodeCamera render tick took 1.79 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 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_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 + 6.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 19 warnings · 452 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.01sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.07sINFOros2-3process has finished cleanly [pid 8958] ×2 + 0.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.19sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.19sINFOros2_control_node[2026-08-05 12:35:23.337] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.362] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.362] [info] Controller state will be published at 50 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-05 12:35:23.367] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 8961] ×2 + 0.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.56sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.56sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.57sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.57sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.57sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.58sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.58sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2).[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.87sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.87sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.87sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.87sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.89sINFOros2-5process has finished cleanly [pid 8960] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.95sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.24sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.28sINFOros2-2process has finished cleanly [pid 8957] ×2 + 1.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.30sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.62sINFOros2-4process has finished cleanly [pid 8959] ×2 + 1.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 1.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.77sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.77sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.77sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.80sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.09sINFOros2-7process has finished cleanly [pid 8962] ×2 + 2.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 2.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 2.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.21sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 2.21sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.53sINFOros2-8process has finished cleanly [pid 8963] ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 3.46sWARNros2_control_nodeCamera render tick took 1.79 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 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 6.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 6.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_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 + 6.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 416 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.01sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206915 ms (missed cycles : 2).[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.34sINFOros2-5process has finished cleanly [pid 8960] ×2 + 0.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOforce_torque_sensor_broadcasterconfigure successful + 0.39sINFOros2_control_nodeconfigure successful[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.40sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.69sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.73sINFOros2-2process has finished cleanly [pid 8957] ×2 + 0.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.75sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.75sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.98sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.07sINFOros2-4process has finished cleanly [pid 8959] ×2 + 1.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.07sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.07sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.07sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785933324.83043337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785933324.84067035 seconds ×3 + 1.16sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.24sINFOros2_control_node[2026-08-05 12:35:24.942] [info] Controller state will be published at 10 Hz. ×2 + 1.24sINFOros2_control_node[2026-08-05 12:35:24.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.52sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.52sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.52sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.52sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2-7process has finished cleanly [pid 8962] ×2 + 1.58sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 1.58sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 1.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 1.66sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.98sINFOros2-8process has finished cleanly [pid 8963] ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 2.90sWARNros2_control_nodeCamera render tick took 1.79 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 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.43sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 6.43sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 258 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255744 ms (missed cycles : 4). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255744 ms (missed cycles : 4).[0m ×2 + 7.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.42sINFOros2_control_node[2026-08-05 12:35:32.644] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-08-05 12:35:32.644] [info] Accepted new action goal ×2 + 7.44sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 8962] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yrf3etx4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yhd8639g --params-file /tmp/launch_params_bn3zn3vj [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.360] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-05 12:35:25.361] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785933325.46019125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-8process has finished cleanly [pid 8963] ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647777 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785933326.52031636 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sWARNros2_control_nodeCamera render tick took 1.79 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 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.189058 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785933327.13590217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785933327.19604707 seconds ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785933327.85045266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785933327.87056732 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858654 ms (missed cycles : 5).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785933328.57923055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785933328.72977161 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714137 ms (missed cycles : 3).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785933329.36965156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785933329.40976667 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785933330.00943398 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.1855e-05 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-05 12:35:30.135] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880696 ms (missed cycles : 3).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438084 ms (missed cycles : 3).[0m ×2 | ||||