117
Total objective tests
34
Objectives passed
0
Objectives failed
83
Objectives skipped
7.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.7s | 174 warnings · 301 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.35sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-07 16:51:28.789647531 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814032512 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814060805 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786121490.69268608 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.01sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786121491.41312456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.16sINFOobjective_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 + 4.17sINFOobjective_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 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2).[0m ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918103 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918103 ms (missed cycles : 2).[0m ×2 + 7.34sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 7.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.36sINFOros2_control_node[2026-08-07 16:51:34.697] [info] Received new action goal ×2 + 7.36sINFOros2_control_node[2026-08-07 16:51:34.697] [info] Accepted new action goal ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101376 ms (missed cycles : 2). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101376 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143980 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143980 ms (missed cycles : 4).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255380 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255380 ms (missed cycles : 2).[0m ×2 + 10.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.54sINFOros2_control_node[2026-08-07 16:51:37.877] [info] Received new action goal ×2 + 10.54sINFOros2_control_node[2026-08-07 16:51:37.877] [info] Accepted new action goal ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046687 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046687 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490548 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490548 ms (missed cycles : 2).[0m ×2 + 13.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 13.51sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 13.52sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650295 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650295 ms (missed cycles : 2).[0m ×2 + 13.57sINFOros2_control_node[2026-08-07 16:51:40.901] [info] Received new action goal ×2 + 13.57sINFOros2_control_node[2026-08-07 16:51:40.901] [info] Accepted new action goal ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267432 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267432 ms (missed cycles : 3).[0m ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525112 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525112 ms (missed cycles : 2).[0m ×2 + 16.53sINFOobjective_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 + 16.53sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.53sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.53sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.53sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662367 ms (missed cycles : 5). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662367 ms (missed cycles : 5).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325636 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325636 ms (missed cycles : 2).[0m ×2 + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879542 ms (missed cycles : 5). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879542 ms (missed cycles : 5).[0m ×2 + 19.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178741 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178741 ms (missed cycles : 2).[0m ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907973 ms (missed cycles : 4). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907973 ms (missed cycles : 4).[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972553 ms (missed cycles : 2). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972553 ms (missed cycles : 2).[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080342 ms (missed cycles : 3). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080342 ms (missed cycles : 3).[0m ×2 + 23.29sINFOobjective_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 + 23.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.30sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.30sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.30sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.30sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929395 ms (missed cycles : 2). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929395 ms (missed cycles : 2).[0m ×2 + 24.23sINFOros2_control_node[2026-08-07 16:51:51.566] [info] Received new action goal ×2 + 24.23sINFOros2_control_node[2026-08-07 16:51:51.566] [info] Accepted new action goal ×2 + 24.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737703 ms (missed cycles : 5). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737703 ms (missed cycles : 5).[0m ×2 + 25.40sINFOobjective_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 + 25.41sINFOobjective_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 + 25.68sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 25.68sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.74sINFOros2_control_node[2026-08-07 16:51:53.070] [info] Received new action goal ×2 + 25.74sINFOros2_control_node[2026-08-07 16:51:53.070] [info] Accepted new action goal ×2 + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665082 ms (missed cycles : 4). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665082 ms (missed cycles : 4).[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766047 ms (missed cycles : 3). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766047 ms (missed cycles : 3).[0m ×2 + 27.85sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 27.85sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.86sINFOros2_control_node[2026-08-07 16:51:55.197] [info] Received new action goal ×2 + 27.86sINFOros2_control_node[2026-08-07 16:51:55.197] [info] Accepted new action goal ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135095 ms (missed cycles : 2). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135095 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466401 ms (missed cycles : 5). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466401 ms (missed cycles : 5).[0m ×2 + 29.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201270 ms (missed cycles : 3). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201270 ms (missed cycles : 3).[0m ×2 + 30.90sINFOros2_control_node[2026-08-07 16:51:58.237] [info] Received new action goal ×2 + 30.90sINFOros2_control_node[2026-08-07 16:51:58.237] [info] Accepted new action goal ×2 + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.476454 ms (missed cycles : 7). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.476454 ms (missed cycles : 7).[0m ×2 + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.895487 ms (missed cycles : 5). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.895487 ms (missed cycles : 5).[0m ×2 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163980 ms (missed cycles : 4). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163980 ms (missed cycles : 4).[0m ×2 + 33.50sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 33.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.57sINFOros2_control_node[2026-08-07 16:52:00.901] [info] Received new action goal ×2 + 33.57sINFOros2_control_node[2026-08-07 16:52:00.901] [info] Accepted new action goal ×2 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516406 ms (missed cycles : 3). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516406 ms (missed cycles : 3).[0m ×2 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.731432 ms (missed cycles : 8). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.731432 ms (missed cycles : 8).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562800 ms (missed cycles : 5). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562800 ms (missed cycles : 5).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459276 ms (missed cycles : 5). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.459276 ms (missed cycles : 5).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910480 ms (missed cycles : 2). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910480 ms (missed cycles : 2).[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.299704 ms (missed cycles : 7). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.299704 ms (missed cycles : 7).[0m ×2 + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405259 ms (missed cycles : 3). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405259 ms (missed cycles : 3).[0m ×2 + 41.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557422 ms (missed cycles : 2). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557422 ms (missed cycles : 2).[0m ×2 + 42.86sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924672 ms (missed cycles : 3). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924672 ms (missed cycles : 3).[0m ×2 + 44.23sINFOros2_control_node[2026-08-07 16:52:11.566] [info] Received new action goal ×2 + 44.23sINFOros2_control_node[2026-08-07 16:52:11.566] [info] Accepted new action goal ×2 + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.420089 ms (missed cycles : 6). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.420089 ms (missed cycles : 6).[0m ×2 + 45.39sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786121532.72335124 seconds ×3 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692963 ms (missed cycles : 4). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692963 ms (missed cycles : 4).[0m ×2 + 46.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783641 ms (missed cycles : 3). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783641 ms (missed cycles : 3).[0m ×2 + 46.89sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786121534.22532010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288883 ms (missed cycles : 3). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288883 ms (missed cycles : 3).[0m ×2 + 48.06sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 48.06sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.08sINFOros2_control_node[2026-08-07 16:52:15.410] [info] Received new action goal ×2 + 48.08sINFOros2_control_node[2026-08-07 16:52:15.410] [info] Accepted new action goal ×2 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320238 ms (missed cycles : 2). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320238 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 33.6s | 3 errors · 140 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251473 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251473 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457088 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457088 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847363 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847363 ms (missed cycles : 4).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729868 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729868 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_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 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.69sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.69sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786121561.56704044 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342278 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342278 ms (missed cycles : 5).[0m ×2 + 4.28sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.28sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.36sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786121562.23854136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOobjective_server_nodeFound path in 70 iterations (0.0229189 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 4.65sINFOros2_control_node[2026-08-07 16:52:42.525] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-08-07 16:52:42.525] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790934 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790934 ms (missed cycles : 2).[0m ×2 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794537 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794537 ms (missed cycles : 6).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820188 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820188 ms (missed cycles : 5).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029954 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029954 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763867 ms (missed cycles : 5). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763867 ms (missed cycles : 5).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050717 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050717 ms (missed cycles : 3).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818168 ms (missed cycles : 5). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.818168 ms (missed cycles : 5).[0m ×2 + 12.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 12.19sINFOobjective_server_node[2026-08-07 16:52:50.072] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027656 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027656 ms (missed cycles : 2).[0m ×2 + 12.96sINFOobjective_server_node[0;m[0;93m2026-08-07 16:52:50.836764805 [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 + 12.96sINFOobjective_server_node[0;93m2026-08-07 16:52:50.836796577 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.12sINFOobjective_server_node[2026-08-07 16:52:50.997] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.66sINFOobjective_server_node[0;93m2026-08-07 16:52:51.536581447 [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 + 13.66sINFOobjective_server_node[0;93m2026-08-07 16:52:51.536619152 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.79sINFOobjective_server_node[2026-08-07 16:52:51.673] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622093 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622093 ms (missed cycles : 3).[0m ×2 + 13.88sINFOobjective_server_node[0;93m2026-08-07 16:52:51.751342205 [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 + 13.88sINFOobjective_server_node[0;93m2026-08-07 16:52:51.755995332 [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 + 13.88sINFOobjective_server_node[0;93m2026-08-07 16:52:51.756044246 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.89sINFOobjective_server_node[2026-08-07 16:52:51.773] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 14.24sINFOobjective_server_node[0;93m2026-08-07 16:52:52.121868678 [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 + 14.26sINFOobjective_server_node[0;93m2026-08-07 16:52:52.143114033 [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 + 14.26sINFOobjective_server_node[0;93m2026-08-07 16:52:52.143142271 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160191 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160191 ms (missed cycles : 2).[0m ×2 + 15.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091379 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091379 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583011 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583011 ms (missed cycles : 3).[0m ×2 + 17.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×4 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760530 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760530 ms (missed cycles : 3).[0m ×2 + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.436349 ms (missed cycles : 6). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.436349 ms (missed cycles : 6).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876723 ms (missed cycles : 4). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876723 ms (missed cycles : 4).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455580 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455580 ms (missed cycles : 3).[0m ×2 + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626243 ms (missed cycles : 5). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626243 ms (missed cycles : 5).[0m ×2 + 22.45sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 22.80sINFOobjective_server_nodeFound path in 4 iterations (0.00332108 s). ×2 + 22.88sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 22.92sINFOobjective_server_nodeFound path in 17 iterations (0.00662041 s). ×2 + 22.99sINFOobjective_server_nodePath shortcutter: [X__________________________________X________________________________________X] ×2 + 23.03sINFOobjective_server_nodeFound path in 2 iterations (0.00497274 s). ×2 + 23.08sINFOobjective_server_nodePath shortcutter: [X_____________________________X___________________X] ×2 + 23.11sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 23.14sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 23.16sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 23.19sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 23.22sINFOobjective_server_nodeFound path in 1 iterations (0.00410694 s). ×2 + 23.27sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 23.30sINFOobjective_server_nodeFound path in 12 iterations (0.00611835 s). ×2 + 23.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 23.38sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 23.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________X] ×4 + 23.46sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 23.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 23.52sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 23.57sINFOobjective_server_nodePath shortcutter: [X____________________________X_______________________X] ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786872 ms (missed cycles : 5). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786872 ms (missed cycles : 5).[0m ×2 + 23.60sINFOobjective_server_nodeFound path in 4 iterations (0.00323885 s). ×2 + 23.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 23.73sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 23.80sINFOobjective_server_nodeFound path in 1 iterations (0.00596632 s). ×2 + 23.87sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 23.89sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 23.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 23.97sINFOobjective_server_nodeFound path in 26 iterations (0.0129847 s). ×2 + 24.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________________X] ×2 + 24.09sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 24.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 24.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 24.46sINFOros2_control_node[2026-08-07 16:53:02.340] [info] Received new action goal ×2 + 24.46sINFOros2_control_node[2026-08-07 16:53:02.340] [info] Accepted new action goal ×2 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603673 ms (missed cycles : 5). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.603673 ms (missed cycles : 5).[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.401820 ms (missed cycles : 6). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.401820 ms (missed cycles : 6).[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848599 ms (missed cycles : 3). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848599 ms (missed cycles : 3).[0m ×2 + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062473 ms (missed cycles : 3). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062473 ms (missed cycles : 3).[0m ×2 + 28.61sWARNros2_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 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278733 ms (missed cycles : 2). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278733 ms (missed cycles : 2).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808478 ms (missed cycles : 4). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808478 ms (missed cycles : 4).[0m ×2 + 30.60sINFOros2_control_node[2026-08-07 16:53:08.484] [info] Received new action goal ×2 + 30.60sINFOros2_control_node[2026-08-07 16:53:08.484] [info] Accepted new action goal ×2 + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772634 ms (missed cycles : 4). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.772634 ms (missed cycles : 4).[0m ×2 + 31.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 31.96sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 31.97sINFOros2_control_node[2026-08-07 16:53:09.852] [info] Received new action goal ×2 + 31.97sINFOros2_control_node[2026-08-07 16:53:09.852] [info] Accepted new action goal ×2 + 32.31sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788349 ms (missed cycles : 2). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788349 ms (missed cycles : 2).[0m ×2 + 33.02sWARNobjective_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 + 33.02sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 33.05sINFOros2_control_node[2026-08-07 16:53:10.933] [info] Received new action goal ×2 + 33.05sINFOros2_control_node[2026-08-07 16:53:10.933] [info] Accepted new action goal ×2 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035896 ms (missed cycles : 2). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035896 ms (missed cycles : 2).[0m ×2 + 33.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986269 ms (missed cycles : 3). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986269 ms (missed cycles : 3).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495023 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495023 ms (missed cycles : 2).[0m ×2 + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309217 ms (missed cycles : 4). + 37.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309217 ms (missed cycles : 4).[0m ×2 + 37.29sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786121595.16917253 seconds ×3 + 37.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 37.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 37.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 37.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 37.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 37.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 38.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786121595.91002250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252092 ms (missed cycles : 2). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252092 ms (missed cycles : 2).[0m ×2 + 38.25sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 38.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 38.26sINFOros2_control_node[2026-08-07 16:53:16.135] [info] Received new action goal ×2 + 38.26sINFOros2_control_node[2026-08-07 16:53:16.135] [info] Accepted new action goal ×2 + 39.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907190 ms (missed cycles : 4). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907190 ms (missed cycles : 4).[0m ×2 + 39.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475852 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475852 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.1s | 3 errors · 86 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1786121418.26463628 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140077 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140077 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939138 ms (missed cycles : 5). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939138 ms (missed cycles : 5).[0m ×2 + 7.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639690 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639690 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872795 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872795 ms (missed cycles : 2).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911155 ms (missed cycles : 5). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911155 ms (missed cycles : 5).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609847 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609847 ms (missed cycles : 3).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297665 ms (missed cycles : 6). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.297665 ms (missed cycles : 6).[0m ×2 + 12.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.71sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.99sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 13.00sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.01sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 13.03sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 13.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.10sINFOobjective_server_nodeFound path in 1 iterations (0.0041214 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.30sINFOros2_control_node[2026-08-07 16:50:29.326] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-08-07 16:50:29.326] [info] Accepted new action goal ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.010129 ms (missed cycles : 7). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.010129 ms (missed cycles : 7).[0m ×2 + 13.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673532 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673532 ms (missed cycles : 2).[0m ×2 + 15.77sINFOros2_control_node[2026-08-07 16:50:31.798] [info] Received new action goal ×2 + 15.77sINFOros2_control_node[2026-08-07 16:50:31.798] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441802 ms (missed cycles : 5). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441802 ms (missed cycles : 5).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5).[0m ×2 + 17.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.70sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Received new action goal ×2 + 17.70sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Accepted new action goal ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2).[0m ×2 + 19.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121435.11794376 seconds ×3 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4).[0m ×2 + 19.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121435.74163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121435.82174611 seconds ×3 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2).[0m ×2 + 20.41sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121436.43896580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.51sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 20.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.53sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Received new action goal ×2 + 20.53sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Accepted new action goal ×2 + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 71 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346511 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346511 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.286188 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.286188 ms (missed cycles : 7).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (1.68e-07 s). ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (1.72e-07 s). ×2 + 1.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.32sINFOobjective_server_nodeFound path in 1 iterations (0.00331575 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.52sINFOros2_control_node[2026-08-07 16:51:07.005] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-08-07 16:51:07.005] [info] Accepted new action goal ×2 + 1.96sINFOros2_control_node[2026-08-07 16:51:07.437] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-07 16:51:07.437] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714930 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714930 ms (missed cycles : 4).[0m ×2 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.36sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sERRORobjective_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: 1786121468.87700677 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551774 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551774 ms (missed cycles : 3).[0m ×2 + 4.12sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 4.12sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.12sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 4.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786121469.66949821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.37sINFOros2_control_node[2026-08-07 16:51:09.853] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 16:51:09.853] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146340 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146340 ms (missed cycles : 2).[0m ×2 + 4.71sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610714 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610714 ms (missed cycles : 5).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315057 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315057 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_node[2026-08-07 16:51:12.354] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-08-07 16:51:12.354] [info] Accepted new action goal ×2 + 7.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327782 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327782 ms (missed cycles : 3).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853949 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853949 ms (missed cycles : 3).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042432 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042432 ms (missed cycles : 3).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716429 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716429 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336729 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336729 ms (missed cycles : 2).[0m ×2 + 12.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018772 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018772 ms (missed cycles : 2).[0m ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843833 ms (missed cycles : 4). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843833 ms (missed cycles : 4).[0m ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943796 ms (missed cycles : 4). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943796 ms (missed cycles : 4).[0m ×2 + 15.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786121480.92630529 seconds ×3 + 16.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121481.59049630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121481.66061974 seconds ×3 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2).[0m ×2 + 16.77sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121482.25842690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.88sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 16.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.89sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Received new action goal ×2 + 16.89sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Accepted new action goal ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3).[0m ×2 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 9 errors · 66 warnings · 203 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.49sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.50sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.50sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924672 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924672 ms (missed cycles : 3).[0m ×2 + 1.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.37sINFOros2_control_node[2026-08-07 16:52:11.566] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-07 16:52:11.566] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.420089 ms (missed cycles : 6). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.420089 ms (missed cycles : 6).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786121532.72335124 seconds ×3 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692963 ms (missed cycles : 4). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692963 ms (missed cycles : 4).[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.90sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783641 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783641 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786121534.22532010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288883 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288883 ms (missed cycles : 3).[0m ×2 + 5.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.22sINFOros2_control_node[2026-08-07 16:52:15.410] [info] Received new action goal ×2 + 5.22sINFOros2_control_node[2026-08-07 16:52:15.410] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320238 ms (missed cycles : 2). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320238 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098836 ms (missed cycles : 4). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098836 ms (missed cycles : 4).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222765 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222765 ms (missed cycles : 2).[0m ×2 + 8.92sINFOobjective_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 + 8.93sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.93sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.93sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.93sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200055 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200055 ms (missed cycles : 2).[0m ×2 + 9.60sWARNros2_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 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926850 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926850 ms (missed cycles : 2).[0m ×2 + 11.32sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 11.33sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.34sINFOros2_control_node[2026-08-07 16:52:21.530] [info] Received new action goal ×2 + 11.34sINFOros2_control_node[2026-08-07 16:52:21.530] [info] Accepted new action goal ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641929 ms (missed cycles : 3). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641929 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409767 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409767 ms (missed cycles : 3).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144122 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144122 ms (missed cycles : 2).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035027 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035027 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786121545.13546252 seconds ×3 + 15.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786121545.74524140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.71sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 15.71sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.72sINFOros2_control_node[2026-08-07 16:52:25.909] [info] Received new action goal ×2 + 15.72sINFOros2_control_node[2026-08-07 16:52:25.909] [info] Accepted new action goal ×2 + 15.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446902 ms (missed cycles : 4). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446902 ms (missed cycles : 4).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688509 ms (missed cycles : 4). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688509 ms (missed cycles : 4).[0m ×2 + 16.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.99sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.42sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 17.43sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 78 warnings · 288 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.14sERRORobjective_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: 1786121638.74792647 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 2.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.25sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774292 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774292 ms (missed cycles : 2).[0m ×2 + 7.56sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.57sINFOros2_control_node[2026-08-07 16:54:04.175] [info] Received new action goal ×2 + 7.57sINFOros2_control_node[2026-08-07 16:54:04.175] [info] Accepted new action goal ×2 + 7.57sINFOros2_control_node[2026-08-07 16:54:04.175] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890829 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890829 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627118 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627118 ms (missed cycles : 3).[0m ×2 + 10.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093933 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093933 ms (missed cycles : 4).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296874 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296874 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4).[0m ×2 + 13.59sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5).[0m ×2 + 14.64sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Got request to cancel active goal. ×2 + 14.64sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Canceling active goal... ×2 + 14.65sERRORobjective_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: 1786121651.25600672 seconds ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3).[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786121651.84431148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2).[0m ×2 + 16.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786121652.76442719 seconds ×3 + 16.75sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786121653.35973191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.75sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.75sINFOobjective_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 + 16.75sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.75sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786121653.36150813 seconds ×3 + 17.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4).[0m ×2 + 17.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786121654.10001898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.49sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786121654.10048175 seconds ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 63 warnings · 174 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 0.47sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.74sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.74sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.75sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786121454.74275732 seconds ×3 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966309 ms (missed cycles : 3). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966309 ms (missed cycles : 3).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417020 ms (missed cycles : 4). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417020 ms (missed cycles : 4).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124218 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124218 ms (missed cycles : 3).[0m ×2 + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062807 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062807 ms (missed cycles : 4).[0m ×2 + 4.37sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.37sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.37sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.41sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786121458.37320542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-07 16:50:58.577] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-07 16:50:58.577] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961694 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961694 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749578 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749578 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.086633 ms (missed cycles : 7). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.086633 ms (missed cycles : 7).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056753 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056753 ms (missed cycles : 2).[0m ×2 + 9.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.06sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (1.92e-07 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761836 ms (missed cycles : 5). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761836 ms (missed cycles : 5).[0m ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.46sINFOobjective_server_nodeFound path in 1 iterations (0.00274714 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.58sINFOobjective_server_nodeFound path in 1 iterations (0.0044744 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×4 + 9.93sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 10.06sINFOros2_control_node[2026-08-07 16:51:04.020] [info] Received new action goal ×2 + 10.06sINFOros2_control_node[2026-08-07 16:51:04.020] [info] Accepted new action goal ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643785 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643785 ms (missed cycles : 3).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346511 ms (missed cycles : 4). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346511 ms (missed cycles : 4).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.286188 ms (missed cycles : 7). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.286188 ms (missed cycles : 7).[0m ×2 + 12.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.74sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 12.74sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.74sINFOobjective_server_nodeFound path in 0 iterations (1.68e-07 s). ×2 + 12.74sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.76sINFOobjective_server_nodeFound path in 0 iterations (1.72e-07 s). ×2 + 12.81sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.84sINFOobjective_server_nodeFound path in 1 iterations (0.00331575 s). ×2 + 12.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 13.04sINFOros2_control_node[2026-08-07 16:51:07.005] [info] Received new action goal ×2 + 13.04sINFOros2_control_node[2026-08-07 16:51:07.005] [info] Accepted new action goal ×2 + 13.47sINFOros2_control_node[2026-08-07 16:51:07.437] [info] Received new action goal ×2 + 13.47sINFOros2_control_node[2026-08-07 16:51:07.437] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714930 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714930 ms (missed cycles : 4).[0m ×2 + 14.88sINFOobjective_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 + 14.88sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.88sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.88sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.91sERRORobjective_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: 1786121468.87700677 seconds ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551774 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551774 ms (missed cycles : 3).[0m ×2 + 15.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786121469.66949821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.89sINFOros2_control_node[2026-08-07 16:51:09.853] [info] Received new action goal ×2 + 15.89sINFOros2_control_node[2026-08-07 16:51:09.853] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146340 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146340 ms (missed cycles : 2).[0m ×2 + 16.23sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610714 ms (missed cycles : 5). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610714 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 69 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035896 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035896 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 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 3.986269 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986269 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495023 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495023 ms (missed cycles : 2).[0m ×2 + 2.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309217 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309217 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786121595.16917253 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786121595.91002250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252092 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252092 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-07 16:53:16.135] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-07 16:53:16.135] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907190 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907190 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475852 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475852 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363998 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363998 ms (missed cycles : 3).[0m ×2 + 8.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839715 ms (missed cycles : 2). + 8.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839715 ms (missed cycles : 2).[0m ×2 + 8.61sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 1 iterations (0.00392847 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.13sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.15sINFOros2_control_node[2026-08-07 16:53:20.858] [info] Received new action goal ×2 + 9.15sINFOros2_control_node[2026-08-07 16:53:20.859] [info] Accepted new action goal ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629589 ms (missed cycles : 5). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.629589 ms (missed cycles : 5).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 11.63sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 11.63sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 12.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 13.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.54sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 13.54sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 14.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 14.54sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 14.56sERRORobjective_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: 1786121606.26669073 seconds ×3 + 15.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 15.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.41sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 17.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 72 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473035 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473035 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991923 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991923 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225915 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225915 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005010 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005010 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786121627.74729538 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213504 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213504 ms (missed cycles : 3).[0m ×2 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 4.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 4.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786121628.35758352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-08-07 16:53:48.492] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-07 16:53:48.492] [info] Accepted new action goal ×2 + 4.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495389 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495389 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755684 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755684 ms (missed cycles : 2).[0m ×2 + 6.57sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072301 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072301 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462092 ms (missed cycles : 5). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.462092 ms (missed cycles : 5).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329105 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329105 ms (missed cycles : 4).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416271 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416271 ms (missed cycles : 3).[0m ×2 + 10.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 14.91sINFOobjective_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 + 14.92sERRORobjective_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: 1786121638.74792647 seconds ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 15.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 16.22sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.24sINFOobjective_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 + 16.24sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 16.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.03sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 17.03sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 17.03sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 17.03sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 77 warnings · 346 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 0.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 0.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.74sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 1.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 + 5.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031080 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031080 ms (missed cycles : 2).[0m ×2 + 6.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.35sINFOros2_control_node[2026-08-07 16:50:10.552] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-08-07 16:50:10.552] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508295 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508295 ms (missed cycles : 5).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597965 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597965 ms (missed cycles : 3).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337648 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337648 ms (missed cycles : 2).[0m ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 10.06sINFOros2_control_node[2026-08-07 16:50:14.253] [info] Received new action goal ×2 + 10.06sINFOros2_control_node[2026-08-07 16:50:14.253] [info] Accepted new action goal ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741330 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741330 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 13.37sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.38sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 13.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 14.04sINFOobjective_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 + 14.05sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 14.05sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 14.07sERRORobjective_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: 1786121418.26463628 seconds ×3 + 14.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 14.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.82sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 15.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 15.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.63sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 15.63sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 63 warnings · 154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×6 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947516 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947516 ms (missed cycles : 3).[0m ×2 + 7.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.03sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.32sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.34sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.41sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 7.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.47sINFOobjective_server_nodeFound path in 1 iterations (0.00273675 s). ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853581 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853581 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeFound path in 1 iterations (0.00464365 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.10sINFOros2_control_node[2026-08-07 16:50:52.017] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-08-07 16:50:52.017] [info] Accepted new action goal ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955348 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955348 ms (missed cycles : 4).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160952 ms (missed cycles : 5). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.160952 ms (missed cycles : 5).[0m ×2 + 10.52sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.79sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.79sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.79sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 10.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786121454.74275732 seconds ×3 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966309 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966309 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417020 ms (missed cycles : 4). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417020 ms (missed cycles : 4).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124218 ms (missed cycles : 3). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124218 ms (missed cycles : 3).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062807 ms (missed cycles : 4). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062807 ms (missed cycles : 4).[0m ×2 + 14.45sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786121458.37320542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 14.66sINFOros2_control_node[2026-08-07 16:50:58.577] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-08-07 16:50:58.577] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961694 ms (missed cycles : 3). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961694 ms (missed cycles : 3).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749578 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749578 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 69 warnings · 109 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054348 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054348 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360824 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360824 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824930 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824930 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679281 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679281 ms (missed cycles : 5).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985356 ms (missed cycles : 4). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985356 ms (missed cycles : 4).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684224 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684224 ms (missed cycles : 3).[0m ×2 + 13.29sWARNros2_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 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194106 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194106 ms (missed cycles : 3).[0m ×2 + 14.56sERRORobjective_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: 1786121617.24503350 seconds ×3 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649460 ms (missed cycles : 4). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649460 ms (missed cycles : 4).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786121617.83947515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 15.44sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.46sINFOros2_control_node[2026-08-07 16:53:38.144] [info] Received new action goal ×2 + 15.46sINFOros2_control_node[2026-08-07 16:53:38.144] [info] Accepted new action goal ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623637 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623637 ms (missed cycles : 2).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279457 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279457 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 66 warnings · 171 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5).[0m ×2 + 0.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121435.11794376 seconds ×3 + 1.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4).[0m ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.51sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121435.74163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121435.82174611 seconds ×3 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121436.43896580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366551 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366551 ms (missed cycles : 3).[0m ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.73sINFOros2_control_node[2026-08-07 16:50:39.923] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-08-07 16:50:39.923] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677926 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677926 ms (missed cycles : 2).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615515 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615515 ms (missed cycles : 3).[0m ×2 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (4.77e-07 s). ×2 + 9.07sINFOros2_control_node[2026-08-07 16:50:42.261] [info] Received new action goal ×2 + 9.07sINFOros2_control_node[2026-08-07 16:50:42.261] [info] Accepted new action goal ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799385 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799385 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 11.42sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 11.42sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 13.55sINFOobjective_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 + 13.56sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 13.56sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 13.56sERRORobjective_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: 1786121446.75285316 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 14.20sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 14.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.40sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 14.40sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 66 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679281 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679281 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985356 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985356 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684224 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684224 ms (missed cycles : 3).[0m ×2 + 2.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194106 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194106 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_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 + 3.95sERRORobjective_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: 1786121617.24503350 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649460 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649460 ms (missed cycles : 4).[0m ×2 + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.54sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786121617.83947515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.85sINFOros2_control_node[2026-08-07 16:53:38.144] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-07 16:53:38.144] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623637 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623637 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279457 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279457 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698272 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698272 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752968 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752968 ms (missed cycles : 5).[0m ×2 + 8.86sINFOros2_control_node[2026-08-07 16:53:42.162] [info] Received new action goal ×2 + 8.86sINFOros2_control_node[2026-08-07 16:53:42.162] [info] Accepted new action goal ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439461 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439461 ms (missed cycles : 2).[0m ×2 + 9.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473035 ms (missed cycles : 4). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473035 ms (missed cycles : 4).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991923 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991923 ms (missed cycles : 3).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225915 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225915 ms (missed cycles : 2).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005010 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005010 ms (missed cycles : 2).[0m ×2 + 14.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786121627.74729538 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213504 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213504 ms (missed cycles : 3).[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786121628.35758352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 15.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.19sINFOros2_control_node[2026-08-07 16:53:48.492] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-08-07 16:53:48.492] [info] Accepted new action goal ×2 + 15.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495389 ms (missed cycles : 3). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495389 ms (missed cycles : 3).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755684 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755684 ms (missed cycles : 2).[0m ×2 + 17.10sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.10sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.4s | 61 errors · 51 warnings · 325 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5).[0m ×2 + 1.04sINFOobjective_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 + 1.05sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Got request to cancel active goal. ×2 + 1.05sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Canceling active goal... ×2 + 1.06sERRORobjective_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: 1786121651.25600672 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3).[0m ×2 + 1.64sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 1.64sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.64sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 1.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786121651.84431148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786121652.76442719 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786121653.35973191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.16sINFOobjective_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 + 3.16sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786121653.36150813 seconds ×3 + 3.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786121654.10001898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786121654.10048175 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786121654.70070887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786121655.25082874 seconds ×3 + 5.09sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701534 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701534 ms (missed cycles : 3).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406391 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406391 ms (missed cycles : 3).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958218 ms (missed cycles : 3).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932532 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932532 ms (missed cycles : 2).[0m ×2 + 9.55sWARNros2_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 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708638 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708638 ms (missed cycles : 2).[0m ×2 + 10.37sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.38sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORweb_video_auth_proxy-23process has died [pid 9178, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.39sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.40sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORweb_bridge_auth_proxy-22process has died [pid 9177, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.40sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.44sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.45sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.46sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.47sINFOvideo_server-21process has finished cleanly [pid 9176] ×2 + 10.47sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.48sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.48sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.50sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.51sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.53sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.54sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.55sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.56sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.58sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.60sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.60sINFOcontroller_managerShutdown request received.... + 10.60sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.60sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.60sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.60sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.60sINFOvideo_server2026/08/07 16:54:20 INF shutting down gracefully ×2 + 10.60sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.60sINFOvideo_server2026/08/07 16:54:20 INF [WebRTC] closing ×2 + 10.60sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.60sINFOvideo_server2026/08/07 16:54:20 INF [RTSP] closing ×2 + 10.60sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.60sINFOvideo_server2026/08/07 16:54:20 INF waiting for running hooks ×2 + 10.60sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.60sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.60sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.60sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.60sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.60sINFOcontroller_managerShutting down the controller manager. + 10.60sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.60sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.61sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.61sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.61sERRORmove_groupStack trace (most recent call last) in thread 9406: ×2 + 10.61sERRORmove_group-9process has died [pid 9101, 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_s9qsf6ji --params-file /tmp/launch_params_f6l23g0v --params-file /tmp/launch_params_s8k2t31_ --params-file /tmp/launch_params_xfi93flv --params-file /tmp/launch_params_du3xv7fe --params-file /tmp/launch_params_lq8s_z1u']. ×2 + 10.61sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.61sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f16604dba63, in __clone ×2 + 10.61sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f166044eaa3, in ×2 + 10.61sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f16606e0db3, in ×2 + 10.61sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f1660e4ced7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.61sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1660a72620, in rclcpp::Rate::sleep() ×2 + 10.61sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f16609b4d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.61sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1660976087, in ×2 + 10.61sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f16606af390, in __cxa_throw ×2 + 10.61sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1660699a54, in std::terminate() ×2 + 10.61sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f16606af0d9, in ×2 + 10.61sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1660699ff4, in ×2 + 10.61sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f16603da8fe, in abort ×2 + 10.61sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f16603f727d, in raise ×2 + 10.61sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1660450b2c, in pthread_kill ×2 + 10.61sERRORmove_groupAborted (Signal sent by tkill() 9101 0) ×2 + 10.61sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.61sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.61sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.61sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.61sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.61sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.61sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.61sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.81sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.81sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.81sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.49sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9175] ×2 + 11.49sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.57sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9105] ×2 + 11.58sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9104] ×2 + 11.59sINFOcomponent_container_mt-16process has finished cleanly [pid 9108] ×2 + 11.59sINFOui_teleop_bridge-18process has finished cleanly [pid 9110] ×2 + 11.60sINFOexecute_objective_bridge-17process has finished cleanly [pid 9109] ×2 + 11.63sINFOwaypoint_manager_node-11process has finished cleanly [pid 9103] ×2 + 11.65sINFOparameter_manager_node-10process has finished cleanly [pid 9102] ×2 + 11.71sINFOobjective_server_node[0;m[2026-08-07 16:54:21.901] [moveit_pro_license] [info] ×2 + 11.71sINFOobjective_server_node************************************************* ×4 + 11.71sINFOobjective_server_node* MoveIt Pro License ×2 + 11.71sINFOobjective_server_node* Application has successfully terminated ×2 + 12.18sINFOobjective_server_node_main-14process has finished cleanly [pid 9106] ×2 + 12.18sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.71sINFOcomponent_container_mt-15process has finished cleanly [pid 9107] ×2 + 12.92sINFOweb_bridge-19process has finished cleanly [pid 9111] ×2 + 12.92sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.24sINFOros2_control_node-1process has finished cleanly [pid 9064] ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 10.4s | 24 errors · 69 warnings · 263 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 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786121548.83240867 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349740 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349740 ms (missed cycles : 3).[0m ×2 + 1.82sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 1.82sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 1.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786121549.46620488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 2.02sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.04sINFOros2_control_node[2026-08-07 16:52:29.644] [info] Received new action goal ×2 + 2.04sINFOros2_control_node[2026-08-07 16:52:29.644] [info] Accepted new action goal ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743627 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743627 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 3.33sINFOobjective_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 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786121551.20938563 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925936 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925936 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786121551.84975600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.41sINFOros2_control_node[2026-08-07 16:52:32.014] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-07 16:52:32.014] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044923 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044923 ms (missed cycles : 4).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777840 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777840 ms (missed cycles : 5).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311744 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311744 ms (missed cycles : 2).[0m ×2 + 7.66sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.69sINFOros2_control_node[2026-08-07 16:52:35.293] [info] Received new action goal ×2 + 7.69sINFOros2_control_node[2026-08-07 16:52:35.293] [info] Accepted new action goal ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217484 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217484 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181355 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181355 ms (missed cycles : 3).[0m ×2 + 9.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 9.68sINFOros2_control_node[2026-08-07 16:52:37.288] [info] Received new action goal ×2 + 9.68sINFOros2_control_node[2026-08-07 16:52:37.288] [info] Accepted new action goal ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251473 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251473 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457088 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457088 ms (missed cycles : 2).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847363 ms (missed cycles : 4). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847363 ms (missed cycles : 4).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729868 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729868 ms (missed cycles : 2).[0m ×2 + 13.96sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786121561.56704044 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342278 ms (missed cycles : 5). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342278 ms (missed cycles : 5).[0m ×2 + 14.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786121562.23854136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.84sINFOobjective_server_nodeFound path in 70 iterations (0.0229189 s). ×2 + 14.90sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 14.92sINFOros2_control_node[2026-08-07 16:52:42.525] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-08-07 16:52:42.525] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790934 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790934 ms (missed cycles : 2).[0m ×2 + 16.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794537 ms (missed cycles : 6). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794537 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 5.3s | 49 warnings · 187 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121481.59049630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121481.66061974 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121482.25842690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Accepted new action goal ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786121484.37856364 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917891 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917891 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786121485.97939754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512784 ms (missed cycles : 5). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512784 ms (missed cycles : 5).[0m ×2 + 5.09sINFOobjective_server_node[2026-08-07 16:51:26.679] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 5.89sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.10sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.61sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 6.61sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.75sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 6.80sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 6.80sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.82sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.21sINFOobjective_server_node[0;93m2026-08-07 16:51:28.789647531 [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 + 7.23sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814032512 [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 + 7.23sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814060805 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4).[0m ×2 + 9.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786121490.69268608 seconds ×3 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3).[0m ×2 + 9.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786121491.41312456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 9.91sINFOobjective_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 + 9.92sINFOobjective_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 + 10.20sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2).[0m ×2 + 10.24sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Accepted new action goal ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 43 warnings · 156 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018772 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018772 ms (missed cycles : 2).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843833 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843833 ms (missed cycles : 4).[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943796 ms (missed cycles : 4). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943796 ms (missed cycles : 4).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786121480.92630529 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.70sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.70sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121481.59049630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121481.66061974 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121482.25842690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3).[0m ×2 + 6.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786121484.37856364 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917891 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917891 ms (missed cycles : 3).[0m ×2 + 8.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786121485.97939754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512784 ms (missed cycles : 5). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512784 ms (missed cycles : 5).[0m ×2 + 8.79sINFOobjective_server_node[2026-08-07 16:51:26.679] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 9.59sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 9.59sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.80sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.31sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 10.31sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.45sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 10.50sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 10.50sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 10.50sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.52sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×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 | 3.7s | 21 errors · 43 warnings · 251 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 (3.8e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-07 16:52:21.530] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-07 16:52:21.530] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641929 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641929 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409767 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409767 ms (missed cycles : 3).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144122 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144122 ms (missed cycles : 2).[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035027 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035027 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786121545.13546252 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.31sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 4.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786121545.74524140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.49sINFOros2_control_node[2026-08-07 16:52:25.909] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 16:52:25.909] [info] Accepted new action goal ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446902 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446902 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688509 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688509 ms (missed cycles : 4).[0m ×2 + 5.76sINFOobjective_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 + 5.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.19sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.20sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5).[0m ×2 + 7.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786121548.83240867 seconds ×3 + 7.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349740 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349740 ms (missed cycles : 3).[0m ×2 + 8.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786121549.46620488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.10sINFOobjective_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 + 8.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 8.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 8.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 8.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 8.23sINFOros2_control_node[2026-08-07 16:52:29.644] [info] Received new action goal ×2 + 8.23sINFOros2_control_node[2026-08-07 16:52:29.644] [info] Accepted new action goal ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743627 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743627 ms (missed cycles : 2).[0m ×2 + 9.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786121551.20938563 seconds ×3 + 9.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925936 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925936 ms (missed cycles : 2).[0m ×2 + 10.43sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786121551.84975600 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 | 2.4s | 21 errors · 37 warnings · 233 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786121545.13546252 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.60sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786121545.74524140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.77sINFOros2_control_node[2026-08-07 16:52:25.909] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-08-07 16:52:25.909] [info] Accepted new action goal ×2 + 0.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446902 ms (missed cycles : 4). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446902 ms (missed cycles : 4).[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688509 ms (missed cycles : 4). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688509 ms (missed cycles : 4).[0m ×2 + 2.04sINFOobjective_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 + 2.05sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.10sINFOobjective_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 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.47sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.49sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786121548.83240867 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349740 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349740 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786121549.46620488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_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 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 4.51sINFOros2_control_node[2026-08-07 16:52:29.644] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 16:52:29.644] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743627 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743627 ms (missed cycles : 2).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786121551.20938563 seconds ×3 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925936 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925936 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786121551.84975600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.88sINFOros2_control_node[2026-08-07 16:52:32.014] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-08-07 16:52:32.014] [info] Accepted new action goal ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044923 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044923 ms (missed cycles : 4).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777840 ms (missed cycles : 5). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777840 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 50 warnings · 543 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.16sINFOobjective_server_node[2026-08-07 16:49:59.613] [moveit_pro_license] [info] ×2 + 0.16sINFOobjective_server_node************************************************* ×4 + 0.16sINFOobjective_server_node* MoveIt Pro License ×2 + 0.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.28sINFOobjective_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 + 0.28sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.29sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.29sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.59sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.59sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.72sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.72sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.72sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.72sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.72sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.72sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.72sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.72sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.72sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.72sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.72sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.72sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.72sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.72sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.89sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.89sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.89sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.91sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.91sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671633 ms (missed cycles : 3). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671633 ms (missed cycles : 3).[0m ×2 + 0.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.22sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.22sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.22sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.23sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.24sINFOros2-3process has finished cleanly [pid 9066] ×2 + 1.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOros2_control_nodeconfigure successful[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.29sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.29sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.56sINFOcomponent_container_mt[2026-08-07 16:50:01.005] [moveit_pro_license] [info] ×2 + 1.56sINFOcomponent_container_mt************************************************* ×4 + 1.56sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.56sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.58sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.58sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.60sINFOros2-2process has finished cleanly [pid 9065] ×2 + 1.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.75sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.76sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.79sINFOros2_control_node[2026-08-07 16:50:01.240] [info] Controller state will be published at 20 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-07 16:50:01.241] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.84sWARNobjective_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 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3).[0m ×2 + 2.04sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.04sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.04sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.04sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.05sINFOros2-8process has finished cleanly [pid 9071] ×2 + 2.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 2.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 2.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.19sINFOros2_control_node[2026-08-07 16:50:01.634] [info] Controller state will be published at 10 Hz. ×2 + 2.19sINFOros2_control_node[2026-08-07 16:50:01.636] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.48sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 2.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 2.52sINFOros2-7process has finished cleanly [pid 9070] ×2 + 2.54sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.54sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.54sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.54sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.54sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.54sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.56sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.56sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 2.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 2.87sINFOros2-4process has finished cleanly [pid 9067] ×2 + 2.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.93sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.93sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.93sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.93sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.96sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.96sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.96sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.96sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.96sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.96sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.21sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.22sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 3.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.26sINFOros2-5process has finished cleanly [pid 9068] ×2 + 3.27sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.27sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.35sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 3.35sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 3.39sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.40sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.40sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.40sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.42sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.42sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 3.43sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 3.75sINFOros2-6process has finished cleanly [pid 9069] ×2 + 3.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 4.99sWARNros2_control_nodeCamera render tick took 1.94 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 + 5.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 7.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 7.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 7.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 3 errors · 41 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093933 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093933 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296874 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296874 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4).[0m ×2 + 2.79sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5).[0m ×2 + 3.83sINFOobjective_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 + 3.84sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Got request to cancel active goal. ×2 + 3.84sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Canceling active goal... ×2 + 3.85sERRORobjective_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: 1786121651.25600672 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3).[0m ×2 + 4.43sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.43sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 4.43sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786121651.84431148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786121652.76442719 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786121653.35973191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.95sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.95sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786121653.36150813 seconds ×3 + 6.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4).[0m ×2 + 6.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786121654.10001898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786121654.10048175 seconds ×3 + 7.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786121654.70070887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3).[0m ×2 + 7.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786121655.25082874 seconds ×3 + 7.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 29 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741330 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741330 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.81sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_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 + 3.49sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 3.49sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 3.51sERRORobjective_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: 1786121418.26463628 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.15sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 41 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5).[0m ×2 + 1.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Canceling active goal... ×2 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121651.25600672 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3).[0m ×2 + 2.32sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.32sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.32sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786121651.84431148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786121652.76442719 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786121653.35973191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.84sINFOobjective_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 + 3.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786121653.36150813 seconds ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786121654.10001898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786121654.10048175 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786121654.70070887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786121655.25082874 seconds ×3 + 5.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701534 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701534 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406391 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.406391 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 31 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336729 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336729 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018772 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018772 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843833 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843833 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943796 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943796 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786121480.92630529 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.11sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.11sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.11sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121481.59049630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121481.66061974 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121482.25842690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786121484.37856364 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 32 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-08-07 16:50:31.798] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-07 16:50:31.798] [info] Accepted new action goal ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441802 ms (missed cycles : 5). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.441802 ms (missed cycles : 5).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5).[0m ×2 + 1.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121435.11794376 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_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 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4).[0m ×2 + 3.90sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.90sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.90sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 3.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121435.74163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121435.82174611 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121436.43896580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.77sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Accepted new action goal ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 32 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sERRORobjective_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: 1786121638.74792647 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 48 warnings · 455 info |
+ 0.00sINFOcomponent_container_mt[2026-08-07 16:50:01.005] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 9065] ×2 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.24sINFOros2_control_node[2026-08-07 16:50:01.240] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-08-07 16:50:01.241] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.60sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.60sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.63sINFOros2_control_node[2026-08-07 16:50:01.634] [info] Controller state will be published at 10 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-07 16:50:01.636] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.94sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.96sINFOros2-7process has finished cleanly [pid 9070] ×2 + 0.98sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.32sINFOros2-4process has finished cleanly [pid 9067] ×2 + 1.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 1.66sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 2.20sINFOros2-6process has finished cleanly [pid 9069] ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 3.43sWARNros2_control_nodeCamera render tick took 1.94 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 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.03sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 7.03sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 35 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sERRORobjective_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: 1786121638.74792647 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 38 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5).[0m ×2 + 1.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Canceling active goal... ×2 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121651.25600672 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3).[0m ×2 + 2.32sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.32sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.32sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786121651.84431148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786121652.76442719 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786121653.35973191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.84sINFOobjective_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 + 3.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786121653.36150813 seconds ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786121654.10001898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786121654.10048175 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786121654.70070887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786121655.25082874 seconds ×3 + 5.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701534 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701534 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.1s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.35sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-07 16:51:28.789647531 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814032512 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814060805 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786121490.69268608 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.01sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.01sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786121491.41312456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_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 + 4.17sINFOobjective_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 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2).[0m ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 26 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741330 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741330 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.81sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_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 + 3.49sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 3.49sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 3.51sERRORobjective_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: 1786121418.26463628 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.15sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 26 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1786121418.26463628 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 29 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5).[0m ×2 + 0.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121435.11794376 seconds ×3 + 1.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4).[0m ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.51sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121435.74163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121435.82174611 seconds ×3 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121436.43896580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 29 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5).[0m ×2 + 0.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121435.11794376 seconds ×3 + 1.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4).[0m ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.51sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121435.74163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121435.82174611 seconds ×3 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121436.43896580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.35sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-07 16:51:28.789647531 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814032512 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814060805 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786121490.69268608 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.01sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.01sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786121491.41312456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_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 + 4.17sINFOobjective_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 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2).[0m ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 9 errors · 26 warnings · 108 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 (3.8e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-07 16:52:21.530] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-07 16:52:21.530] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641929 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641929 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409767 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409767 ms (missed cycles : 3).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144122 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144122 ms (missed cycles : 2).[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035027 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035027 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786121545.13546252 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786121545.74524140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.49sINFOros2_control_node[2026-08-07 16:52:25.909] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 16:52:25.909] [info] Accepted new action goal ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446902 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446902 ms (missed cycles : 4).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688509 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688509 ms (missed cycles : 4).[0m ×2 + 5.76sINFOobjective_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 + 5.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.81sINFOobjective_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 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 6.20sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251473 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251473 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457088 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457088 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847363 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847363 ms (missed cycles : 4).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729868 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729868 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_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 + 3.42sINFOobjective_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 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.69sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.69sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786121561.56704044 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342278 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342278 ms (missed cycles : 5).[0m ×2 + 4.28sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.28sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.28sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.36sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786121562.23854136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOobjective_server_nodeFound path in 70 iterations (0.0229189 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 4.65sINFOros2_control_node[2026-08-07 16:52:42.525] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-08-07 16:52:42.525] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790934 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790934 ms (missed cycles : 2).[0m ×2 + 5.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794537 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794537 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 28 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035896 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035896 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 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 3.986269 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986269 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495023 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495023 ms (missed cycles : 2).[0m ×2 + 2.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309217 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309217 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786121595.16917253 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.10sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786121595.91002250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252092 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252092 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-07 16:53:16.135] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-07 16:53:16.135] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907190 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907190 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475852 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 29 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473035 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473035 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991923 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991923 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225915 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225915 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005010 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005010 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786121627.74729538 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213504 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213504 ms (missed cycles : 3).[0m ×2 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786121628.35758352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.66sINFOros2_control_node[2026-08-07 16:53:48.492] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-07 16:53:48.492] [info] Accepted new action goal ×2 + 4.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495389 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495389 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755684 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755684 ms (missed cycles : 2).[0m ×2 + 6.57sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sERRORobjective_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: 1786121638.74792647 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 26 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741330 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741330 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 2.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.81sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.49sINFOobjective_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 + 3.49sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 3.49sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 3.51sERRORobjective_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: 1786121418.26463628 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.15sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.16sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 26 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1786121418.26463628 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 26 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1786121418.26463628 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 26 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.832957 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.015855 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Received new action goal ×2 + 1.55sINFOros2_control_node[2026-08-07 16:50:17.582] [info] Accepted new action goal ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Got request to cancel active goal. ×2 + 2.22sINFOros2_control_node[2026-08-07 16:50:18.248] [info] Canceling active goal... ×2 + 2.23sERRORobjective_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: 1786121418.26463628 seconds ×3 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359064 ms (missed cycles : 6).[0m ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121418.91295266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121419.02306724 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727792 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121419.62531877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 16:50:19.829] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184484 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806442 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 29 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5).[0m ×2 + 0.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121435.11794376 seconds ×3 + 1.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4).[0m ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.51sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121435.74163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121435.82174611 seconds ×3 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121436.43896580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 29 warnings · 87 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.229060 ms (missed cycles : 5).[0m ×2 + 0.52sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.52sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 16:50:33.731] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005860 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121435.11794376 seconds ×3 + 1.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259458 ms (missed cycles : 4).[0m ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 2.51sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.51sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121435.74163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121435.82174611 seconds ×3 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463392 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121436.43896580 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-08-07 16:50:36.564] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642816 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098538 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220338 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 16:50:44.611] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826341 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005311 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-08-07 16:50:46.749] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1786121446.75285316 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216505 ms (missed cycles : 6).[0m ×2 + 3.45sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 3.45sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.46sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121447.39033294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (6.64e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 16:50:47.594] [info] Accepted new action goal ×2 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905457 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016303 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346511 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346511 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.286188 ms (missed cycles : 7). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.286188 ms (missed cycles : 7).[0m ×2 + 1.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (1.68e-07 s). ×2 + 1.22sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (1.72e-07 s). ×2 + 1.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.32sINFOobjective_server_nodeFound path in 1 iterations (0.00331575 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOros2_control_node[2026-08-07 16:51:07.005] [info] Received new action goal ×2 + 1.52sINFOros2_control_node[2026-08-07 16:51:07.005] [info] Accepted new action goal ×2 + 1.96sINFOros2_control_node[2026-08-07 16:51:07.437] [info] Received new action goal ×2 + 1.96sINFOros2_control_node[2026-08-07 16:51:07.437] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714930 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714930 ms (missed cycles : 4).[0m ×2 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.36sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sERRORobjective_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: 1786121468.87700677 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 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_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 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551774 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551774 ms (missed cycles : 3).[0m ×2 + 4.12sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.12sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.12sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786121469.66949821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.37sINFOros2_control_node[2026-08-07 16:51:09.853] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 16:51:09.853] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146340 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146340 ms (missed cycles : 2).[0m ×2 + 4.71sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610714 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610714 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 31 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336729 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336729 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018772 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018772 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843833 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843833 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943796 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943796 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786121480.92630529 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.11sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.11sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.11sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 4.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121481.59049630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121481.66061974 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121482.25842690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 32 warnings · 128 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121481.59049630 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121481.66061974 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752208 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121482.25842690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-07 16:51:22.372] [info] Accepted new action goal ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981796 ms (missed cycles : 3).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114262 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786121484.37856364 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917891 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917891 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786121485.97939754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512784 ms (missed cycles : 5). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512784 ms (missed cycles : 5).[0m ×2 + 5.09sINFOobjective_server_node[2026-08-07 16:51:26.679] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 5.89sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 5.89sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.10sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.61sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 6.61sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.75sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 6.80sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 6.80sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 6.80sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.82sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.35sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-07 16:51:28.789647531 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814032512 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814060805 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786121490.69268608 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.01sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.01sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786121491.41312456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_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 + 4.17sINFOobjective_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 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2).[0m ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.35sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-07 16:51:28.789647531 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814032512 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814060805 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786121490.69268608 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.01sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.01sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786121491.41312456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_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 + 4.17sINFOobjective_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 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2).[0m ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664444 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479298658 [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 + 0.14sINFOobjective_server_node[0;93m2026-08-07 16:51:27.479324852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.35sINFOobjective_server_node[2026-08-07 16:51:27.683] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197442400 [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 + 0.86sINFOobjective_server_node[0;93m2026-08-07 16:51:28.197472835 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.00sINFOobjective_server_node[2026-08-07 16:51:28.332] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394235 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.385441892 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388784733 [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 + 1.05sINFOobjective_server_node[0;93m2026-08-07 16:51:28.388812345 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sINFOobjective_server_node[2026-08-07 16:51:28.406] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-07 16:51:28.789647531 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814032512 [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 + 1.48sINFOobjective_server_node[0;93m2026-08-07 16:51:28.814060805 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710393 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786121490.69268608 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996008 ms (missed cycles : 3).[0m ×2 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.01sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.01sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786121491.41312456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_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 + 4.17sINFOobjective_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 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960141 ms (missed cycles : 2).[0m ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-07 16:51:31.830] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641317 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 26 warnings · 166 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 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928350 ms (missed cycles : 5).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786121548.83240867 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349740 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349740 ms (missed cycles : 3).[0m ×2 + 1.82sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 1.82sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 1.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786121549.46620488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.02sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 2.02sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.04sINFOros2_control_node[2026-08-07 16:52:29.644] [info] Received new action goal ×2 + 2.04sINFOros2_control_node[2026-08-07 16:52:29.644] [info] Accepted new action goal ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743627 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743627 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.33sINFOobjective_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 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786121551.20938563 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925936 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925936 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786121551.84975600 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.41sINFOros2_control_node[2026-08-07 16:52:32.014] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-07 16:52:32.014] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044923 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044923 ms (missed cycles : 4).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777840 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777840 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 28 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035896 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035896 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 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 3.986269 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986269 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495023 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495023 ms (missed cycles : 2).[0m ×2 + 2.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309217 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309217 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786121595.16917253 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.10sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.10sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786121595.91002250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252092 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252092 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.72e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-07 16:53:16.135] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-07 16:53:16.135] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907190 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.907190 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475852 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475852 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 32 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.271706 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-08-07 16:53:23.331] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754017 ms (missed cycles : 2).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428838 ms (missed cycles : 3).[0m ×2 + 2.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 16:53:25.245] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330626 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-07 16:53:26.250] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121606.26669073 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.22sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.22sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786121606.93462491 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089856 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (7.94e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 16:53:27.119] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.102585 ms (missed cycles : 4).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879376 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 26 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679281 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679281 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985356 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985356 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684224 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684224 ms (missed cycles : 3).[0m ×2 + 2.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194106 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194106 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_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 + 3.95sERRORobjective_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: 1786121617.24503350 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649460 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649460 ms (missed cycles : 4).[0m ×2 + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser + 4.54sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.54sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×2 + 4.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786121617.83947515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.85sINFOros2_control_node[2026-08-07 16:53:38.144] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-08-07 16:53:38.144] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623637 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623637 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279457 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279457 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sERRORobjective_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: 1786121638.74792647 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sERRORobjective_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: 1786121638.74792647 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031919 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sERRORobjective_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: 1786121638.74792647 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 3.82sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.82sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 5.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 32 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1786121638.74792647 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.25sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 32 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1786121638.74792647 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.25sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Cover | select_region_and_cover.xml | 0.0s | 3 errors · 32 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784774 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455903 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1786121638.74792647 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2). + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818067 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×3 + 2.74sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786121639.34926844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786121639.43938470 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305282 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786121640.04955029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786121640.07192135 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786121640.74699330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.25sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 16:54:00.861] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337738 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388364 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675524 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 35 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5).[0m ×2 + 1.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Canceling active goal... ×2 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121651.25600672 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3).[0m ×2 + 2.32sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.32sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.32sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786121651.84431148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786121652.76442719 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786121653.35973191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.84sINFOobjective_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 + 3.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786121653.36150813 seconds ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786121654.10001898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786121654.10048175 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786121654.70070887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786121655.25082874 seconds ×3 + 5.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 35 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014740 ms (missed cycles : 4).[0m ×2 + 0.68sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909554 ms (missed cycles : 5).[0m ×2 + 1.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Got request to cancel active goal. ×2 + 1.73sINFOros2_control_node[2026-08-07 16:54:11.248] [info] Canceling active goal... ×2 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786121651.25600672 seconds ×3 + 1.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549997 ms (missed cycles : 3).[0m ×2 + 2.32sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 2.32sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.32sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 2.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786121651.84431148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545968 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786121652.76442719 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786121653.35973191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.84sINFOobjective_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 + 3.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786121653.36150813 seconds ×3 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952699 ms (missed cycles : 4).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786121654.10001898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786121654.10048175 seconds ×3 + 5.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786121654.70070887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199698 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786121655.25082874 seconds ×3 + 5.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
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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 | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.6s | 50 warnings · 593 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/2026-08-07-16-49-54-057956-19b67dc5a6ad-9016 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_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. + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664380 ms (missed cycles : 4). + 2.03sINFOros2_control_node-1process started with pid [9064] ×2 + 2.03sINFOmove_group-9process started with pid [9101] ×2 + 2.03sINFOparameter_manager_node-10process started with pid [9102] ×2 + 2.03sINFOwaypoint_manager_node-11process started with pid [9103] ×2 + 2.03sINFOmove_joint_resampler_node-12process started with pid [9104] ×2 + 2.03sINFOmove_end_effector_resampler_node-13process started with pid [9105] ×2 + 2.03sINFOobjective_server_node_main-14process started with pid [9106] ×2 + 2.03sINFOcomponent_container_mt-15process started with pid [9107] ×2 + 2.03sINFOcomponent_container_mt-16process started with pid [9108] ×2 + 2.03sINFOexecute_objective_bridge-17process started with pid [9109] ×2 + 2.03sINFOui_teleop_bridge-18process started with pid [9110] ×2 + 2.03sINFOweb_bridge-19process started with pid [9111] ×2 + 2.03sINFOtf2_web_republisher_node-20process started with pid [9175] ×2 + 2.03sINFOvideo_server-21process started with pid [9176] ×2 + 2.03sINFOweb_bridge_auth_proxy-22process started with pid [9177] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9178] ×2 + 2.06sINFOros2-2process started with pid [9065] ×2 + 2.06sINFOros2-3process started with pid [9066] ×2 + 2.06sINFOros2-4process started with pid [9067] ×2 + 2.06sINFOros2-5process started with pid [9068] ×2 + 2.06sINFOros2-6process started with pid [9069] ×2 + 2.06sINFOros2-7process started with pid [9070] ×2 + 2.06sINFOros2-8process started with pid [9071] ×2 + 2.07sINFOcontroller_managerReceived robot description from topic. + 2.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.09sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.11sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.11sWARNros2_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 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664380 ms (missed cycles : 4).[0m ×2 + 2.11sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.11sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.11sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.41sINFOvideo_server2026/08/07 16:49:57 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.41sINFOvideo_server2026/08/07 16:49:57 INF configuration loaded from /tmp/moveit-webrtc-hk01tm6i/mediamtx.yml ×2 + 2.41sINFOvideo_server2026/08/07 16:49:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.41sINFOvideo_server2026/08/07 16:49:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.48sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.93sINFOmove_group[2026-08-07 16:49:57.736] [moveit_pro_license] [info] ×2 + 2.93sINFOmove_group************************************************* ×4 + 2.93sINFOmove_group* MoveIt Pro License ×2 + 2.93sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506339 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506339 ms (missed cycles : 3).[0m ×2 + 3.24sINFOwaypoint_manager_node[2026-08-07 16:49:58.046] [moveit_pro_license] [info] ×2 + 3.24sINFOwaypoint_manager_node************************************************* ×4 + 3.24sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.24sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.32sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.32sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.40sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.47sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.47sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.47sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.47sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.48sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.49sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.49sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.76sINFOmove_group ×4 + 3.76sINFOmove_group[92mYou can start planning now![0m ×2 + 3.77sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.77sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177591 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177591 ms (missed cycles : 2).[0m ×2 + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.80sINFOobjective_server_node[2026-08-07 16:49:59.613] [moveit_pro_license] [info] ×2 + 4.80sINFOobjective_server_node************************************************* ×4 + 4.80sINFOobjective_server_node* MoveIt Pro License ×2 + 4.80sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.92sINFOobjective_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 + 4.92sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.93sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.23sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.23sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.35sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.35sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.36sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.36sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.36sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.36sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.36sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.36sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.36sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.36sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.36sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.36sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.36sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.36sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.53sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.53sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.53sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.53sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.53sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 5.53sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 5.54sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.54sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.54sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 5.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671633 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671633 ms (missed cycles : 3).[0m ×2 + 5.56sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.56sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.85sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.86sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 5.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 5.87sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 5.88sINFOros2-3process has finished cleanly [pid 9066] ×2 + 5.91sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.91sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.91sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.91sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.92sINFOforce_torque_sensor_broadcasterconfigure successful + 5.92sINFOros2_control_nodeconfigure successful[0m ×2 + 5.92sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.92sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.92sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.92sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.19sINFOcomponent_container_mt[2026-08-07 16:50:01.005] [moveit_pro_license] [info] ×2 + 6.19sINFOcomponent_container_mt************************************************* ×4 + 6.19sINFOcomponent_container_mt* MoveIt Pro License ×2 + 6.19sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.22sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.22sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.22sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.22sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.24sINFOros2-2process has finished cleanly [pid 9065] ×2 + 6.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 6.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 6.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 6.39sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.39sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.39sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.39sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.40sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.43sINFOros2_control_node[2026-08-07 16:50:01.240] [info] Controller state will be published at 20 Hz. ×2 + 6.43sINFOros2_control_node[2026-08-07 16:50:01.241] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.48sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3).[0m ×2 + 6.67sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.67sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.67sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.67sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.69sINFOros2-8process has finished cleanly [pid 9071] ×2 + 6.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 6.75sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 6.79sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.79sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.79sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.79sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.82sINFOros2_control_node[2026-08-07 16:50:01.634] [info] Controller state will be published at 10 Hz. ×2 + 6.83sINFOros2_control_node[2026-08-07 16:50:01.636] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 7.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 7.16sINFOros2-7process has finished cleanly [pid 9070] ×2 + 7.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.49sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.49sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.49sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.49sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 7.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 7.51sINFOros2-4process has finished cleanly [pid 9067] ×2 + 7.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.56sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.57sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.57sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.57sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.57sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.57sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.57sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.59sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.59sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.59sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.60sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.60sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×4 + 7.85sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 7.85sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×8 + 7.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 7.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.90sINFOros2-5process has finished cleanly [pid 9068] ×2 + 7.91sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.91sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.91sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 7.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 8.03sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 8.03sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 8.03sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 8.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 8.04sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.04sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.06sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 8.06sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 8.06sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 8.39sINFOros2-6process has finished cleanly [pid 9069] ×2 + 8.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 9.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 9.63sWARNros2_control_nodeCamera render tick took 1.94 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 10.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 46 warnings · 336 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.36sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.36sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.36sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 0.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.40sINFOros2-5process has finished cleanly [pid 9068] ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.50sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.54sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.55sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.55sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.57sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.57sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 0.57sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 2.14sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 5.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_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 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.73sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 43 warnings · 418 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-07 16:50:01.634] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-07 16:50:01.636] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 9070] ×2 + 0.50sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 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: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.89sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.90sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.92sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.92sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.92sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.93sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 1.18sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.22sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.31sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.32sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.36sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.39sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.39sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 1.72sINFOros2-6process has finished cleanly [pid 9069] ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 2.95sWARNros2_control_nodeCamera render tick took 1.94 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 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.55sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 43 warnings · 336 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.02sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.10sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.10sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.36sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 0.36sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.36sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 0.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 0.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.40sINFOros2-5process has finished cleanly [pid 9068] ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.50sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.54sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.55sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.55sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.57sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.57sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 0.57sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 2.14sWARNros2_control_nodeCamera render tick took 1.94 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 + 2.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 5.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOobjective_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 + 5.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.73sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.73sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 42 warnings · 424 info |
+ 0.00sINFOcomponent_container_mt[2026-08-07 16:50:01.005] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 9065] ×2 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.24sINFOros2_control_node[2026-08-07 16:50:01.240] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-08-07 16:50:01.241] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.60sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.60sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.63sINFOros2_control_node[2026-08-07 16:50:01.634] [info] Controller state will be published at 10 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-07 16:50:01.636] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.94sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.96sINFOros2-7process has finished cleanly [pid 9070] ×2 + 0.98sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.32sINFOros2-4process has finished cleanly [pid 9067] ×2 + 1.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 1.66sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 2.20sINFOros2-6process has finished cleanly [pid 9069] ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 3.43sWARNros2_control_nodeCamera render tick took 1.94 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 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-07-16-49-54-057956-19b67dc5a6ad-9016 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_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. + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664380 ms (missed cycles : 4). + 2.03sINFOros2_control_node-1process started with pid [9064] ×2 + 2.03sINFOmove_group-9process started with pid [9101] ×2 + 2.03sINFOparameter_manager_node-10process started with pid [9102] ×2 + 2.03sINFOwaypoint_manager_node-11process started with pid [9103] ×2 + 2.03sINFOmove_joint_resampler_node-12process started with pid [9104] ×2 + 2.03sINFOmove_end_effector_resampler_node-13process started with pid [9105] ×2 + 2.03sINFOobjective_server_node_main-14process started with pid [9106] ×2 + 2.03sINFOcomponent_container_mt-15process started with pid [9107] ×2 + 2.03sINFOcomponent_container_mt-16process started with pid [9108] ×2 + 2.03sINFOexecute_objective_bridge-17process started with pid [9109] ×2 + 2.03sINFOui_teleop_bridge-18process started with pid [9110] ×2 + 2.03sINFOweb_bridge-19process started with pid [9111] ×2 + 2.03sINFOtf2_web_republisher_node-20process started with pid [9175] ×2 + 2.03sINFOvideo_server-21process started with pid [9176] ×2 + 2.03sINFOweb_bridge_auth_proxy-22process started with pid [9177] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9178] ×2 + 2.06sINFOros2-2process started with pid [9065] ×2 + 2.06sINFOros2-3process started with pid [9066] ×2 + 2.06sINFOros2-4process started with pid [9067] ×2 + 2.06sINFOros2-5process started with pid [9068] ×2 + 2.06sINFOros2-6process started with pid [9069] ×2 + 2.06sINFOros2-7process started with pid [9070] ×2 + 2.06sINFOros2-8process started with pid [9071] ×2 + 2.07sINFOcontroller_managerReceived robot description from topic. + 2.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.09sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.11sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.11sWARNros2_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 + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664380 ms (missed cycles : 4).[0m ×2 + 2.11sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.11sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.11sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.41sINFOvideo_server2026/08/07 16:49:57 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.41sINFOvideo_server2026/08/07 16:49:57 INF configuration loaded from /tmp/moveit-webrtc-hk01tm6i/mediamtx.yml ×2 + 2.41sINFOvideo_server2026/08/07 16:49:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.41sINFOvideo_server2026/08/07 16:49:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.48sINFOparameter_manager_nodeStarted parameter manager node. ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 42 warnings · 424 info |
+ 0.00sINFOcomponent_container_mt[2026-08-07 16:50:01.005] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 9065] ×2 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.24sINFOros2_control_node[2026-08-07 16:50:01.240] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-08-07 16:50:01.241] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.60sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.60sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.63sINFOros2_control_node[2026-08-07 16:50:01.634] [info] Controller state will be published at 10 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-07 16:50:01.636] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.94sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.96sINFOros2-7process has finished cleanly [pid 9070] ×2 + 0.98sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.32sINFOros2-4process has finished cleanly [pid 9067] ×2 + 1.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 1.66sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 2.20sINFOros2-6process has finished cleanly [pid 9069] ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 3.43sWARNros2_control_nodeCamera render tick took 1.94 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 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 42 warnings · 424 info |
+ 0.00sINFOcomponent_container_mt[2026-08-07 16:50:01.005] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 9065] ×2 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.24sINFOros2_control_node[2026-08-07 16:50:01.240] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-08-07 16:50:01.241] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.29sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598836 ms (missed cycles : 3).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.48sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.60sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.60sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.63sINFOros2_control_node[2026-08-07 16:50:01.634] [info] Controller state will be published at 10 Hz. ×2 + 0.63sINFOros2_control_node[2026-08-07 16:50:01.636] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.93sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.94sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.96sINFOros2-7process has finished cleanly [pid 9070] ×2 + 0.98sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.99sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.00sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.32sINFOros2-4process has finished cleanly [pid 9067] ×2 + 1.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 1.66sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 1.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.70sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 2.20sINFOros2-6process has finished cleanly [pid 9069] ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 3.43sWARNros2_control_nodeCamera render tick took 1.94 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 + 3.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 43 warnings · 418 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 9071] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-07 16:50:01.634] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-07 16:50:01.636] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.49sINFOros2-7process has finished cleanly [pid 9070] ×2 + 0.50sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 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: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.82sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 0.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 0.84sINFOros2-4process has finished cleanly [pid 9067] ×2 + 0.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.89sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.89sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.89sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.89sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.89sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.90sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.92sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.92sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.92sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.93sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×7 + 1.18sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×14 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121402.66805458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121402.67824697 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.22sINFOros2-5process has finished cleanly [pid 9068] ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.31sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp + 1.32sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jlkx0njm --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cgn8pgm8 --params-file /tmp/launch_params_nyh8pgbp [0m ×2 + 1.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.36sINFOros2_control_node[2026-08-07 16:50:02.846] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.39sINFOros2_control_node[2026-08-07 16:50:02.869] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.39sINFOros2_control_node[2026-08-07 16:50:02.869] [info] Controller state will be published at 50 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-07 16:50:02.874] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 1.72sINFOros2-6process has finished cleanly [pid 9069] ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 2.95sWARNros2_control_nodeCamera render tick took 1.94 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 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.55sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 46 warnings · 247 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 + 7.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031080 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031080 ms (missed cycles : 2).[0m ×2 + 7.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.58sINFOros2_control_node[2026-08-07 16:50:10.552] [info] Received new action goal ×2 + 7.58sINFOros2_control_node[2026-08-07 16:50:10.552] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 43 warnings · 231 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190312 ms (missed cycles : 3).[0m ×2 + 0.23sINFOros2-6process has finished cleanly [pid 9069] ×2 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×6 + 0.29sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 9: -> Node not recognized: GetRegionFromUser ×12 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121403.26717210 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787253 ms (missed cycles : 5).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121404.32729673 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.94 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 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121404.93894196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121405.00907874 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884184 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121405.71363974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121405.73686790 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844696 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121406.45096231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121406.60147142 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121407.24646854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119840 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121407.29659438 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121407.89799213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-07 16:50:08.035] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195838 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675730 ms (missed cycles : 2).[0m ×2 | ||||