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 | 42.5s | 168 warnings · 301 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 17:00:02.015] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-07 17:00:02.445477096 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470382384 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470414800 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786122004.40482450 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.97sWARNobjective_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 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.97sINFOobjective_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 + 4.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786122005.13435555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.12sINFOobjective_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 + 4.13sINFOobjective_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Accepted new action goal ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719858 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719858 ms (missed cycles : 3).[0m ×2 + 7.32sINFOobjective_server_nodeFound path in 0 iterations (4.52e-07 s). ×2 + 7.34sINFOros2_control_node[2026-08-07 17:00:08.428] [info] Received new action goal ×2 + 7.34sINFOros2_control_node[2026-08-07 17:00:08.429] [info] Accepted new action goal ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881540 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881540 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809716 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809716 ms (missed cycles : 3).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169894 ms (missed cycles : 4). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169894 ms (missed cycles : 4).[0m ×2 + 10.12sWARNros2_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 + 10.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.53sINFOros2_control_node[2026-08-07 17:00:11.618] [info] Received new action goal ×2 + 10.53sINFOros2_control_node[2026-08-07 17:00:11.618] [info] Accepted new action goal ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433971 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433971 ms (missed cycles : 3).[0m ×2 + 11.34sWARNros2_control_nodeCamera render tick took 1.22 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 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752651 ms (missed cycles : 5). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.752651 ms (missed cycles : 5).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997698 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997698 ms (missed cycles : 2).[0m ×2 + 13.50sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 13.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.57sINFOros2_control_node[2026-08-07 17:00:14.663] [info] Received new action goal ×2 + 13.57sINFOros2_control_node[2026-08-07 17:00:14.663] [info] Accepted new action goal ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266571 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266571 ms (missed cycles : 2).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057383 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057383 ms (missed cycles : 2).[0m ×2 + 16.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682418 ms (missed cycles : 4). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682418 ms (missed cycles : 4).[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 + 16.54sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.54sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.54sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.54sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671691 ms (missed cycles : 6). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671691 ms (missed cycles : 6).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607757 ms (missed cycles : 5). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.607757 ms (missed cycles : 5).[0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079700 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079700 ms (missed cycles : 3).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.267162 ms (missed cycles : 8). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.267162 ms (missed cycles : 8).[0m ×2 + 21.37sWARNros2_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 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634980 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634980 ms (missed cycles : 2).[0m ×2 + 23.35sINFOobjective_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 + 23.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.36sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.36sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.36sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.36sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862853 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862853 ms (missed cycles : 2).[0m ×2 + 24.25sINFOros2_control_node[2026-08-07 17:00:25.344] [info] Received new action goal ×2 + 24.25sINFOros2_control_node[2026-08-07 17:00:25.344] [info] Accepted new action goal ×2 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598294 ms (missed cycles : 3). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598294 ms (missed cycles : 3).[0m ×2 + 25.42sINFOobjective_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 + 25.43sINFOobjective_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 + 25.73sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 25.73sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.76sINFOros2_control_node[2026-08-07 17:00:26.851] [info] Received new action goal ×2 + 25.76sINFOros2_control_node[2026-08-07 17:00:26.851] [info] Accepted new action goal ×2 + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474595 ms (missed cycles : 2). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474595 ms (missed cycles : 2).[0m ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874653 ms (missed cycles : 3). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874653 ms (missed cycles : 3).[0m ×2 + 27.92sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 27.92sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.94sINFOros2_control_node[2026-08-07 17:00:29.029] [info] Received new action goal ×2 + 27.94sINFOros2_control_node[2026-08-07 17:00:29.029] [info] Accepted new action goal ×2 + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368096 ms (missed cycles : 2). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368096 ms (missed cycles : 2).[0m ×2 + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817354 ms (missed cycles : 4). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817354 ms (missed cycles : 4).[0m ×2 + 30.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765905 ms (missed cycles : 3). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765905 ms (missed cycles : 3).[0m ×2 + 30.97sINFOros2_control_node[2026-08-07 17:00:32.058] [info] Received new action goal ×2 + 30.97sINFOros2_control_node[2026-08-07 17:00:32.058] [info] Accepted new action goal ×2 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935481 ms (missed cycles : 2). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935481 ms (missed cycles : 2).[0m ×2 + 32.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265866 ms (missed cycles : 2). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265866 ms (missed cycles : 2).[0m ×2 + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679866 ms (missed cycles : 5). + 33.56sINFOobjective_server_nodeFound path in 0 iterations (5.97e-07 s). ×2 + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.679866 ms (missed cycles : 5).[0m ×2 + 33.56sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.61sINFOros2_control_node[2026-08-07 17:00:34.704] [info] Received new action goal ×2 + 33.61sINFOros2_control_node[2026-08-07 17:00:34.704] [info] Accepted new action goal ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705979 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705979 ms (missed cycles : 2).[0m ×2 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306140 ms (missed cycles : 2). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306140 ms (missed cycles : 2).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478509 ms (missed cycles : 2). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478509 ms (missed cycles : 2).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062989 ms (missed cycles : 4). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062989 ms (missed cycles : 4).[0m ×2 + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208846 ms (missed cycles : 2). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208846 ms (missed cycles : 2).[0m ×2 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857338 ms (missed cycles : 3). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857338 ms (missed cycles : 3).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352687 ms (missed cycles : 2). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352687 ms (missed cycles : 2).[0m ×2 + 42.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365987 ms (missed cycles : 2). + 42.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365987 ms (missed cycles : 2).[0m ×2 + 42.76sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985200 ms (missed cycles : 2). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985200 ms (missed cycles : 2).[0m ×2 + 44.25sINFOros2_control_node[2026-08-07 17:00:45.338] [info] Received new action goal ×2 + 44.25sINFOros2_control_node[2026-08-07 17:00:45.338] [info] Accepted new action goal ×2 + 44.49sWARNros2_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 + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433952 ms (missed cycles : 6). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433952 ms (missed cycles : 6).[0m ×2 + 45.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786122046.49455929 seconds ×3 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801464 ms (missed cycles : 4). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801464 ms (missed cycles : 4).[0m ×2 + 46.62sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786122047.71184278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596853 ms (missed cycles : 3). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596853 ms (missed cycles : 3).[0m ×2 + 47.84sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 47.85sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.87sINFOros2_control_node[2026-08-07 17:00:48.958] [info] Received new action goal ×2 + 47.87sINFOros2_control_node[2026-08-07 17:00:48.958] [info] Accepted new action goal ×2 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799249 ms (missed cycles : 2). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799249 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 32.5s | 3 errors · 134 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170872 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170872 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418053 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418053 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535163 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535163 ms (missed cycles : 5).[0m ×2 + 2.13sWARNros2_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 ×6 + 2.67sINFOobjective_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 + 2.73sINFOobjective_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 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.04sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786122075.37053943 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089644 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089644 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 ×2 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.64sINFOobjective_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 ×4 + 3.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786122076.02068138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.78sINFOobjective_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 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeFound path in 70 iterations (0.023813 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 3.98sINFOros2_control_node[2026-08-07 17:01:16.307] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-08-07 17:01:16.307] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375479 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375479 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278494 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278494 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506172 ms (missed cycles : 6). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506172 ms (missed cycles : 6).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069385 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.069385 ms (missed cycles : 5).[0m ×2 + 8.11sWARNros2_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 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730430 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730430 ms (missed cycles : 4).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034869 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034869 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931168 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931168 ms (missed cycles : 4).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720300 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720300 ms (missed cycles : 2).[0m ×2 + 12.11sINFOobjective_server_node[2026-08-07 17:01:24.434] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891068 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891068 ms (missed cycles : 2).[0m ×2 + 12.84sINFOobjective_server_node[0;m[0;93m2026-08-07 17:01:25.166574450 [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 + 12.84sINFOobjective_server_node[0;93m2026-08-07 17:01:25.166603378 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.04sINFOobjective_server_node[2026-08-07 17:01:25.369] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.21sWARNros2_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 + 13.56sINFOobjective_server_node[0;93m2026-08-07 17:01:25.885778145 [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 + 13.56sINFOobjective_server_node[0;93m2026-08-07 17:01:25.885808711 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.68sINFOobjective_server_node[2026-08-07 17:01:26.001] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.72sINFOobjective_server_node[0;93m2026-08-07 17:01:26.049258934 [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 + 13.73sINFOobjective_server_node[0;93m2026-08-07 17:01:26.052646519 [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 + 13.73sINFOobjective_server_node[0;93m2026-08-07 17:01:26.052668383 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.75sINFOobjective_server_node[2026-08-07 17:01:26.076] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040102 ms (missed cycles : 4). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040102 ms (missed cycles : 4).[0m ×2 + 14.12sINFOobjective_server_node[0;93m2026-08-07 17:01:26.442986402 [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 + 14.14sINFOobjective_server_node[0;93m2026-08-07 17:01:26.463270225 [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 + 14.14sINFOobjective_server_node[0;93m2026-08-07 17:01:26.463297537 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004874 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004874 ms (missed cycles : 2).[0m ×2 + 15.61sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854880 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854880 ms (missed cycles : 2).[0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597096 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597096 ms (missed cycles : 2).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728884 ms (missed cycles : 2). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728884 ms (missed cycles : 2).[0m ×2 + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038677 ms (missed cycles : 2). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038677 ms (missed cycles : 2).[0m ×2 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827112 ms (missed cycles : 2). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827112 ms (missed cycles : 2).[0m ×2 + 20.75sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 21.09sINFOobjective_server_nodeFound path in 4 iterations (0.00488267 s). ×2 + 21.19sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 21.23sINFOobjective_server_nodeFound path in 12 iterations (0.00622142 s). ×2 + 21.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 21.34sINFOobjective_server_nodeFound path in 2 iterations (0.00419674 s). ×2 + 21.39sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 21.41sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 21.45sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 21.47sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 21.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 21.53sINFOobjective_server_nodeFound path in 8 iterations (0.00363084 s). ×2 + 21.59sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 21.62sINFOobjective_server_nodeFound path in 1 iterations (0.00388145 s). ×2 + 21.67sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 21.69sINFOobjective_server_nodeFound path in 0 iterations (1.01e-07 s). ×2 + 21.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.75sINFOobjective_server_nodeFound path in 4 iterations (0.00535821 s). ×2 + 21.84sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.87sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512792 ms (missed cycles : 4). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512792 ms (missed cycles : 4).[0m ×2 + 21.93sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 21.96sINFOobjective_server_nodeFound path in 4 iterations (0.00324291 s). ×2 + 22.05sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X_____________________X] ×2 + 22.08sINFOobjective_server_nodeFound path in 1 iterations (0.00594604 s). ×2 + 22.15sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 22.18sINFOobjective_server_nodeFound path in 1 iterations (0.00302899 s). ×2 + 22.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 22.28sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 22.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 22.35sINFOobjective_server_nodeFound path in 0 iterations (1.91e-07 s). ×2 + 22.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 22.44sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 22.54sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 22.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.79sINFOros2_control_node[2026-08-07 17:01:35.111] [info] Received new action goal ×2 + 22.79sINFOros2_control_node[2026-08-07 17:01:35.111] [info] Accepted new action goal ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677854 ms (missed cycles : 4). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677854 ms (missed cycles : 4).[0m ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143572 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143572 ms (missed cycles : 2).[0m ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631212 ms (missed cycles : 3). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631212 ms (missed cycles : 3).[0m ×2 + 25.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431829 ms (missed cycles : 4). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431829 ms (missed cycles : 4).[0m ×2 + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846751 ms (missed cycles : 3). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846751 ms (missed cycles : 3).[0m ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170222 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170222 ms (missed cycles : 2).[0m ×2 + 28.91sINFOros2_control_node[2026-08-07 17:01:41.234] [info] Received new action goal ×2 + 28.91sINFOros2_control_node[2026-08-07 17:01:41.234] [info] Accepted new action goal ×2 + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086110 ms (missed cycles : 2). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086110 ms (missed cycles : 2).[0m ×2 + 30.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 30.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 30.27sINFOros2_control_node[2026-08-07 17:01:42.594] [info] Received new action goal ×2 + 30.27sINFOros2_control_node[2026-08-07 17:01:42.594] [info] Accepted new action goal ×2 + 31.20sWARNros2_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 + 31.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101442 ms (missed cycles : 2). + 31.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101442 ms (missed cycles : 2).[0m ×2 + 31.31sWARNobjective_server_nodePlan up-over-down Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 31.31sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 31.34sINFOros2_control_node[2026-08-07 17:01:43.665] [info] Received new action goal ×2 + 31.34sINFOros2_control_node[2026-08-07 17:01:43.665] [info] Accepted new action goal ×2 + 31.53sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887706 ms (missed cycles : 2). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887706 ms (missed cycles : 2).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382026 ms (missed cycles : 5). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382026 ms (missed cycles : 5).[0m ×2 + 34.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998454 ms (missed cycles : 2). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998454 ms (missed cycles : 2).[0m ×2 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097859 ms (missed cycles : 6). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097859 ms (missed cycles : 6).[0m ×2 + 35.56sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786122107.89159226 seconds ×3 + 35.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 36.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786122108.66057944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313233 ms (missed cycles : 7). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313233 ms (missed cycles : 7).[0m ×2 + 36.57sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 36.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.58sINFOros2_control_node[2026-08-07 17:01:48.905] [info] Received new action goal ×2 + 36.58sINFOros2_control_node[2026-08-07 17:01:48.905] [info] Accepted new action goal ×2 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831883 ms (missed cycles : 2). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831883 ms (missed cycles : 2).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743875 ms (missed cycles : 3). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743875 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 15.8s | 3 errors · 86 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1786121932.07761526 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 3.25sWARNobjective_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 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.25sINFOobjective_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 + 3.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823182 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823182 ms (missed cycles : 3).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736418 ms (missed cycles : 3).[0m ×2 + 9.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675222 ms (missed cycles : 4). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675222 ms (missed cycles : 4).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805391 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805391 ms (missed cycles : 2).[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612274 ms (missed cycles : 4). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612274 ms (missed cycles : 4).[0m ×2 + 12.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816657 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816657 ms (missed cycles : 2).[0m ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.30sINFOobjective_server_nodeFound path in 1 iterations (0.00358892 s). ×2 + 13.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.48sINFOros2_control_node[2026-08-07 16:59:02.965] [info] Received new action goal ×2 + 13.48sINFOros2_control_node[2026-08-07 16:59:02.965] [info] Accepted new action goal ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558473 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558473 ms (missed cycles : 3).[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880988 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880988 ms (missed cycles : 3).[0m ×2 + 15.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 15.95sINFOros2_control_node[2026-08-07 16:59:05.438] [info] Received new action goal ×2 + 15.96sINFOros2_control_node[2026-08-07 16:59:05.438] [info] Accepted new action goal ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4).[0m ×2 + 17.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.82sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Received new action goal ×2 + 17.82sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Accepted new action goal ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5).[0m ×2 + 19.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121948.68678355 seconds ×3 + 19.84sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121949.31881285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3).[0m ×2 + 19.92sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121949.39894938 seconds ×3 + 20.54sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121950.01975727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.64sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 20.65sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.66sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Received new action goal ×2 + 20.66sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Accepted new action goal ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6).[0m ×2 + 21.90sWARNros2_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 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 66 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866950 ms (missed cycles : 3).[0m ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.97sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063800 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063800 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodeFound path in 1 iterations (0.00324009 s). ×2 + 1.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.23sINFOros2_control_node[2026-08-07 16:59:40.791] [info] Received new action goal ×2 + 1.23sINFOros2_control_node[2026-08-07 16:59:40.791] [info] Accepted new action goal ×2 + 1.66sINFOros2_control_node[2026-08-07 16:59:41.224] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-08-07 16:59:41.224] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806231 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806231 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 2.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOros2_control_node[2026-08-07 16:59:42.545] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-08-07 16:59:42.545] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786121982.55477881 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622265 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622265 ms (missed cycles : 2).[0m ×2 + 3.59sWARNobjective_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 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.59sINFOobjective_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 + 3.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786121983.21163702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.83sINFOros2_control_node[2026-08-07 16:59:43.385] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-07 16:59:43.386] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768843 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768843 ms (missed cycles : 4).[0m ×2 + 4.29sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655295 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655295 ms (missed cycles : 2).[0m ×2 + 6.33sINFOros2_control_node[2026-08-07 16:59:45.887] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-08-07 16:59:45.887] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015662 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015662 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525253 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525253 ms (missed cycles : 3).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403642 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403642 ms (missed cycles : 3).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323693 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323693 ms (missed cycles : 2).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253208 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253208 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412437 ms (missed cycles : 5). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412437 ms (missed cycles : 5).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534803 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534803 ms (missed cycles : 3).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279026 ms (missed cycles : 5). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279026 ms (missed cycles : 5).[0m ×2 + 14.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786121994.44849515 seconds ×3 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157538 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157538 ms (missed cycles : 2).[0m ×2 + 15.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121995.11046481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.58sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 `Load MuJoCo Robot State` succeeded at time: 1786121995.17062140 seconds ×3 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2).[0m ×2 + 16.21sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121995.77441239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.32sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 16.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.33sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Received new action goal ×2 + 16.33sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Accepted new action goal ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 9 errors · 66 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365987 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365987 ms (missed cycles : 2).[0m ×2 + 0.06sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.66sINFOobjective_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 + 0.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.66sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.66sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.66sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.66sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985200 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985200 ms (missed cycles : 2).[0m ×2 + 1.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.54sINFOros2_control_node[2026-08-07 17:00:45.338] [info] Received new action goal ×2 + 1.54sINFOros2_control_node[2026-08-07 17:00:45.338] [info] Accepted new action goal ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433952 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.433952 ms (missed cycles : 6).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786122046.49455929 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801464 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.801464 ms (missed cycles : 4).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sWARNobjective_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 + 3.77sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.77sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786122047.71184278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596853 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596853 ms (missed cycles : 3).[0m ×2 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.16sINFOros2_control_node[2026-08-07 17:00:48.958] [info] Received new action goal ×2 + 5.16sINFOros2_control_node[2026-08-07 17:00:48.958] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799249 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799249 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805652 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805652 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726067 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726067 ms (missed cycles : 4).[0m ×2 + 8.57sWARNros2_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 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562713 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562713 ms (missed cycles : 2).[0m ×2 + 8.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.86sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.86sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.86sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.86sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785634 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785634 ms (missed cycles : 3).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425077 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425077 ms (missed cycles : 2).[0m ×2 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 11.27sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.28sINFOros2_control_node[2026-08-07 17:00:55.076] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-08-07 17:00:55.076] [info] Accepted new action goal ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763914 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763914 ms (missed cycles : 2).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925061 ms (missed cycles : 4). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925061 ms (missed cycles : 4).[0m ×2 + 13.69sWARNros2_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 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843050 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843050 ms (missed cycles : 3).[0m ×2 + 14.89sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786122058.68202305 seconds ×3 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409690 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409690 ms (missed cycles : 2).[0m ×2 + 15.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786122059.29119635 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.65sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 15.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.66sINFOros2_control_node[2026-08-07 17:00:59.455] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-08-07 17:00:59.455] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101312 ms (missed cycles : 6). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101312 ms (missed cycles : 6).[0m ×2 + 16.93sINFOobjective_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 + 16.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2).[0m ×2 + 17.35sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 17.36sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 81 warnings · 288 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.41sERRORobjective_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: 1786122151.45349836 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 3.02sWARNobjective_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 + 3.02sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214554 ms (missed cycles : 6). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214554 ms (missed cycles : 6).[0m ×2 + 7.88sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.89sINFOros2_control_node[2026-08-07 17:02:36.924] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-08-07 17:02:36.924] [info] Accepted new action goal ×2 + 7.89sINFOros2_control_node[2026-08-07 17:02:36.924] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.440509 ms (missed cycles : 6). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.440509 ms (missed cycles : 6).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107082 ms (missed cycles : 7). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107082 ms (missed cycles : 7).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343354 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343354 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285732 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285732 ms (missed cycles : 2).[0m ×2 + 11.60sWARNros2_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 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2).[0m ×2 + 14.82sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.91sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Got request to cancel active goal. ×2 + 14.91sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Canceling active goal... ×2 + 14.92sERRORobjective_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: 1786122163.95515180 seconds ×3 + 15.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122164.55879188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3).[0m ×2 + 16.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122165.55892015 seconds ×3 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5).[0m ×2 + 17.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786122166.15740538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.12sINFOobjective_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 + 17.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786122166.15912104 seconds ×3 + 17.36sWARNros2_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 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4).[0m ×2 + 17.84sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786122166.88466811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786122166.88513899 seconds ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 80 warnings · 346 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.99sWARNobjective_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 + 1.00sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.00sINFOobjective_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 ×14 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 2.83sWARNros2_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 + 3.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549775 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549775 ms (missed cycles : 4).[0m ×2 + 6.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.55sINFOros2_control_node[2026-08-07 16:58:44.186] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-08-07 16:58:44.186] [info] Accepted new action goal ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623780 ms (missed cycles : 5). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623780 ms (missed cycles : 5).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926518 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926518 ms (missed cycles : 2).[0m ×2 + 8.90sWARNros2_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 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614940 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614940 ms (missed cycles : 2).[0m ×2 + 10.27sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 10.29sINFOros2_control_node[2026-08-07 16:58:47.926] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-08-07 16:58:47.926] [info] Accepted new action goal ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131582 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131582 ms (missed cycles : 3).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 13.61sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 13.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.63sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 13.63sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 14.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 14.42sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 14.44sERRORobjective_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: 1786121932.07761526 seconds ×3 + 14.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 15.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 15.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 16.01sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 16.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.02sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 16.02sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 69 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2).[0m ×2 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4).[0m ×2 + 1.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.35sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121948.68678355 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.34sWARNobjective_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 + 3.34sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.34sINFOobjective_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 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121949.31881285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121949.39894938 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121950.01975727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6).[0m ×2 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.56sINFOros2_control_node[2026-08-07 16:59:13.503] [info] Received new action goal ×2 + 7.56sINFOros2_control_node[2026-08-07 16:59:13.503] [info] Accepted new action goal ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156775 ms (missed cycles : 5). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156775 ms (missed cycles : 5).[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415358 ms (missed cycles : 2). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415358 ms (missed cycles : 2).[0m ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 9.91sINFOros2_control_node[2026-08-07 16:59:15.851] [info] Received new action goal ×2 + 9.91sINFOros2_control_node[2026-08-07 16:59:15.851] [info] Accepted new action goal ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955621 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955621 ms (missed cycles : 2).[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 12.25sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 12.26sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 12.26sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 14.60sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 14.60sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 14.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sERRORobjective_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: 1786121960.55541062 seconds ×3 + 14.61sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 14.61sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 15.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 15.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.46sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 15.46sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 17.52sWARNros2_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 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 66 warnings · 169 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813614 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813614 ms (missed cycles : 4).[0m ×2 + 0.48sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.75sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.75sWARNui_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: 1786121968.53567743 seconds ×3 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838964 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838964 ms (missed cycles : 3).[0m ×2 + 1.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269735 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269735 ms (missed cycles : 5).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625127 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625127 ms (missed cycles : 3).[0m ×2 + 3.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303314 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303314 ms (missed cycles : 5).[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 + 4.43sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786121972.18518519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.63sINFOros2_control_node[2026-08-07 16:59:32.389] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-07 16:59:32.389] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558164 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558164 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419525 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419525 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198352 ms (missed cycles : 5). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198352 ms (missed cycles : 5).[0m ×2 + 7.73sWARNros2_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 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145889 ms (missed cycles : 5). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.145889 ms (missed cycles : 5).[0m ×2 + 9.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.02sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.03sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.32sINFOobjective_server_nodeFound path in 0 iterations (6.47e-07 s). ×2 + 9.32sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). ×2 + 9.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.47sINFOobjective_server_nodeFound path in 1 iterations (0.00280078 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.60sINFOobjective_server_nodeFound path in 1 iterations (0.00458446 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.71sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514913 ms (missed cycles : 5). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514913 ms (missed cycles : 5).[0m ×2 + 9.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 9.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 10.05sINFOros2_control_node[2026-08-07 16:59:37.812] [info] Received new action goal ×2 + 10.05sINFOros2_control_node[2026-08-07 16:59:37.812] [info] Accepted new action goal ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173796 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173796 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866950 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866950 ms (missed cycles : 3).[0m ×2 + 12.75sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 12.75sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.75sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 12.75sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.77sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 12.82sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063800 ms (missed cycles : 4). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063800 ms (missed cycles : 4).[0m ×2 + 12.85sINFOobjective_server_nodeFound path in 1 iterations (0.00324009 s). ×2 + 12.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 13.03sINFOros2_control_node[2026-08-07 16:59:40.791] [info] Received new action goal ×2 + 13.03sINFOros2_control_node[2026-08-07 16:59:40.791] [info] Accepted new action goal ×2 + 13.46sINFOros2_control_node[2026-08-07 16:59:41.224] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-08-07 16:59:41.224] [info] Accepted new action goal ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806231 ms (missed cycles : 4). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806231 ms (missed cycles : 4).[0m ×2 + 14.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOros2_control_node[2026-08-07 16:59:42.545] [info] Got request to cancel active goal. ×2 + 14.79sINFOros2_control_node[2026-08-07 16:59:42.545] [info] Canceling active goal... ×2 + 14.79sERRORobjective_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: 1786121982.55477881 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622265 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622265 ms (missed cycles : 2).[0m ×2 + 15.45sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786121983.21163702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.61sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 15.63sINFOros2_control_node[2026-08-07 16:59:43.385] [info] Received new action goal ×2 + 15.63sINFOros2_control_node[2026-08-07 16:59:43.386] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768843 ms (missed cycles : 4). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768843 ms (missed cycles : 4).[0m ×2 + 16.09sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655295 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655295 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 67 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887706 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887706 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382026 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382026 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998454 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998454 ms (missed cycles : 2).[0m ×2 + 2.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097859 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097859 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786122107.89159226 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.96sWARNobjective_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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.96sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786122108.66057944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313233 ms (missed cycles : 7). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313233 ms (missed cycles : 7).[0m ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-07 17:01:48.905] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-07 17:01:48.905] [info] Accepted new action goal ×2 + 4.93sWARNros2_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 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831883 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831883 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743875 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743875 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731581 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731581 ms (missed cycles : 4).[0m ×2 + 8.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.03sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (6.02e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 1 iterations (0.00313119 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.54sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.56sINFOros2_control_node[2026-08-07 17:01:53.148] [info] Received new action goal ×2 + 8.56sINFOros2_control_node[2026-08-07 17:01:53.148] [info] Accepted new action goal ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988975 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988975 ms (missed cycles : 3).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691226 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691226 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 11.04sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 11.04sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 11.71sWARNros2_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 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 12.89sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.90sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 12.90sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 14.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 15.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.21sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 15.21sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 17.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ 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 5.970389 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970389 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041142 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041142 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993217 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993217 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786122140.47565031 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975386 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975386 ms (missed cycles : 5).[0m ×2 + 3.73sWARNobjective_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 + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.73sINFOobjective_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 + 3.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786122141.08322144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.87sINFOros2_control_node[2026-08-07 17:02:21.218] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-07 17:02:21.218] [info] Accepted new action goal ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940754 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940754 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970576 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970576 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763739 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763739 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634566 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634566 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695257 ms (missed cycles : 6). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695257 ms (missed cycles : 6).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935401 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935401 ms (missed cycles : 2).[0m ×2 + 10.15sWARNros2_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 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sERRORobjective_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: 1786122151.45349836 seconds ×3 + 14.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.77sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.43sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.43sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 16.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.22sWARNros2_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 + 16.25sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 16.26sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.27sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 16.27sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 69 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804613 ms (missed cycles : 6). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.804613 ms (missed cycles : 6).[0m ×2 + 8.05sWARNros2_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 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281669 ms (missed cycles : 4). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.281669 ms (missed cycles : 4).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411454 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411454 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975667 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975667 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493739 ms (missed cycles : 5). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493739 ms (missed cycles : 5).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126727 ms (missed cycles : 4). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126727 ms (missed cycles : 4).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862425 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862425 ms (missed cycles : 2).[0m ×2 + 14.16sWARNros2_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 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826281 ms (missed cycles : 4). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826281 ms (missed cycles : 4).[0m ×2 + 14.72sINFOobjective_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 + 14.72sERRORobjective_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: 1786122129.94774413 seconds ×3 + 15.32sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786122130.54946518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sINFOobjective_server_nodeFound path in 0 iterations (4.86e-07 s). ×2 + 15.64sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.66sINFOros2_control_node[2026-08-07 17:02:10.883] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-08-07 17:02:10.883] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121340 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121340 ms (missed cycles : 2).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186302 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186302 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 66 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×4 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935653 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935653 ms (missed cycles : 2).[0m ×2 + 7.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.56sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.56sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (1.92e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 1 iterations (0.00356588 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 1 iterations (0.00423802 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (1.75e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712150 ms (missed cycles : 4). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712150 ms (missed cycles : 4).[0m ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.62sINFOros2_control_node[2026-08-07 16:59:25.810] [info] Received new action goal ×2 + 8.62sINFOros2_control_node[2026-08-07 16:59:25.810] [info] Accepted new action goal ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325158 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325158 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813614 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813614 ms (missed cycles : 4).[0m ×2 + 11.05sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.32sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786121968.53567743 seconds ×3 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838964 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838964 ms (missed cycles : 3).[0m ×2 + 12.30sWARNros2_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 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269735 ms (missed cycles : 5). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.269735 ms (missed cycles : 5).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625127 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625127 ms (missed cycles : 3).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303314 ms (missed cycles : 5). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.303314 ms (missed cycles : 5).[0m ×2 + 15.00sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786121972.18518519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 15.20sINFOros2_control_node[2026-08-07 16:59:32.389] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-08-07 16:59:32.389] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558164 ms (missed cycles : 4). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.558164 ms (missed cycles : 4).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419525 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419525 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 10.7s | 24 errors · 72 warnings · 263 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2).[0m ×2 + 0.31sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539276 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539276 ms (missed cycles : 3).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786122062.33679914 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.65sWARNros2_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 + 2.09sWARNobjective_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 + 2.09sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.09sINFOobjective_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 + 2.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786122062.96585989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112267 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112267 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_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 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 2.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 2.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.27sINFOros2_control_node[2026-08-07 17:01:03.109] [info] Received new action goal ×2 + 2.27sINFOros2_control_node[2026-08-07 17:01:03.110] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_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 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786122064.69860029 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017204 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017204 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786122065.32713819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.66sINFOros2_control_node[2026-08-07 17:01:05.501] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-07 17:01:05.501] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355908 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355908 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580150 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580150 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144923 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144923 ms (missed cycles : 2).[0m ×2 + 7.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.58sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.60sINFOros2_control_node[2026-08-07 17:01:08.439] [info] Received new action goal ×2 + 7.60sINFOros2_control_node[2026-08-07 17:01:08.439] [info] Accepted new action goal ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890146 ms (missed cycles : 4). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890146 ms (missed cycles : 4).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036676 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036676 ms (missed cycles : 3).[0m ×2 + 10.23sINFOros2_control_node[2026-08-07 17:01:11.066] [info] Received new action goal ×2 + 10.23sINFOros2_control_node[2026-08-07 17:01:11.066] [info] Accepted new action goal ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080696 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080696 ms (missed cycles : 2).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170872 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170872 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418053 ms (missed cycles : 5). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418053 ms (missed cycles : 5).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535163 ms (missed cycles : 5). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535163 ms (missed cycles : 5).[0m ×2 + 13.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 14.53sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786122075.37053943 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089644 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089644 ms (missed cycles : 2).[0m ×2 + 15.18sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786122076.02068138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 15.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.39sINFOobjective_server_nodeFound path in 70 iterations (0.023813 s). ×2 + 15.45sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 15.47sINFOros2_control_node[2026-08-07 17:01:16.307] [info] Received new action goal ×2 + 15.47sINFOros2_control_node[2026-08-07 17:01:16.307] [info] Accepted new action goal ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375479 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375479 ms (missed cycles : 3).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278494 ms (missed cycles : 5). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278494 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 63 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493739 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126727 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126727 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862425 ms (missed cycles : 2).[0m ×2 + 2.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826281 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826281 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sERRORobjective_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: 1786122129.94774413 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sWARNobjective_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 + 3.78sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.78sINFOobjective_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 + 3.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786122130.54946518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.86e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 17:02:10.883] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 17:02:10.883] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121340 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121340 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186302 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186302 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239495 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239495 ms (missed cycles : 4).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578395 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578395 ms (missed cycles : 3).[0m ×2 + 8.12sINFOros2_control_node[2026-08-07 17:02:14.891] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-08-07 17:02:14.891] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384118 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384118 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094237 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094237 ms (missed cycles : 3).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970389 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970389 ms (missed cycles : 4).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041142 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041142 ms (missed cycles : 3).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993217 ms (missed cycles : 5). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993217 ms (missed cycles : 5).[0m ×2 + 13.71sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786122140.47565031 seconds ×3 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975386 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975386 ms (missed cycles : 5).[0m ×2 + 14.31sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786122141.08322144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 14.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.45sINFOros2_control_node[2026-08-07 17:02:21.218] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-08-07 17:02:21.218] [info] Accepted new action goal ×2 + 14.68sWARNros2_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 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940754 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940754 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970576 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970576 ms (missed cycles : 2).[0m ×2 + 16.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 9.9s | 55 errors · 54 warnings · 339 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Got request to cancel active goal. ×2 + 0.31sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Canceling active goal... ×2 + 0.31sERRORobjective_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: 1786122163.95515180 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.91sWARNobjective_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 + 0.91sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.91sINFOobjective_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 + 0.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122164.55879188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3).[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122165.55892015 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786122166.15740538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.52sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.52sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786122166.15912104 seconds ×3 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786122166.88466811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786122166.88513899 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122167.47912669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122168.57925653 seconds ×3 + 4.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038400 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038400 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040661 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040661 ms (missed cycles : 5).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.625561 ms (missed cycles : 6). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.625561 ms (missed cycles : 6).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939728 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939728 ms (missed cycles : 2).[0m ×2 + 8.83sWARNros2_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 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955330 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955330 ms (missed cycles : 3).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822017 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822017 ms (missed cycles : 4).[0m ×2 + 11.20sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.23sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORweb_video_auth_proxy-23process has died [pid 9194, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.23sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.25sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORweb_bridge_auth_proxy-22process has died [pid 9193, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.25sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.28sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.29sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.30sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.31sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.32sINFOvideo_server-21process has finished cleanly [pid 9192] ×2 + 11.32sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.34sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.35sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.36sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.37sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.38sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.39sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.41sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.42sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.44sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.44sINFOcontroller_managerShutdown request received.... + 11.44sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.44sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.44sINFOvideo_server2026/08/07 17:02:54 INF shutting down gracefully ×2 + 11.44sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.44sINFOvideo_server2026/08/07 17:02:54 INF [WebRTC] closing ×2 + 11.44sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.44sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.44sINFOvideo_server2026/08/07 17:02:54 INF [RTSP] closing ×2 + 11.44sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.44sINFOvideo_server2026/08/07 17:02:54 INF waiting for running hooks ×2 + 11.44sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.44sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.44sINFOcontroller_managerShutting down the controller manager. + 11.44sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.44sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.44sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.44sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.44sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.45sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.45sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.45sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.45sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.45sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.45sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.45sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.50sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9191] ×2 + 11.50sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.58sINFOui_teleop_bridge-18process has finished cleanly [pid 9126] ×2 + 11.58sINFOcomponent_container_mt-16process has finished cleanly [pid 9124] ×2 + 11.59sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9121] ×2 + 11.60sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9120] ×2 + 11.61sINFOexecute_objective_bridge-17process has finished cleanly [pid 9125] ×2 + 11.62sINFOwaypoint_manager_node-11process has finished cleanly [pid 9119] ×2 + 11.63sINFOparameter_manager_node-10process has finished cleanly [pid 9118] ×2 + 11.65sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.65sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.65sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.68sINFOobjective_server_node[0;m[2026-08-07 17:02:55.320] [moveit_pro_license] [info] ×2 + 11.68sINFOobjective_server_node************************************************* ×4 + 11.68sINFOobjective_server_node* MoveIt Pro License ×2 + 11.68sINFOobjective_server_node* Application has successfully terminated ×2 + 11.71sINFOcomponent_container_mt-15process has finished cleanly [pid 9123] ×2 + 11.74sINFOobjective_server_nodecorrupted double-linked list ×2 + 11.74sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.74sINFOmove_group-9process has finished cleanly [pid 9117] ×2 + 11.76sINFOobjective_server_node#20 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.76sINFOobjective_server_node#19 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560dac8d2254, in _start ×2 + 11.76sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efa8f28a, in __libc_start_main ×2 + 11.76sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efa8f1d0, in ×2 + 11.76sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efaacbbd, in exit ×2 + 11.76sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efaaca75, in ×2 + 11.76sINFOobjective_server_node#14 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f79c80fd411, in Ort::detail::Base<OrtEnv>::~Base() ×2 + 11.76sINFOobjective_server_node#13 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f79a2e1c704, in ×2 + 11.76sINFOobjective_server_node#12 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f79a2e93052, in ×2 + 11.76sINFOobjective_server_node#11 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f79a358f176, in ×2 + 11.76sINFOobjective_server_node#10 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f79a358f079, in ×2 + 11.76sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efb12dcd, in __libc_free ×2 + 11.76sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efb10439, in ×2 + 11.76sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efb0fda4, in ×2 + 11.76sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efb0ecd9, in ×2 + 11.76sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efb0eb7b, in ×2 + 11.76sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efb0dff4, in ×2 + 11.76sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efa8e7b5, in ×2 + 11.76sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efa8d8fe, in abort ×2 + 11.76sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efaaa27d, in raise ×2 + 11.76sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79efb03b2c, in pthread_kill ×2 + 11.76sERRORobjective_server_nodeAborted (Signal sent by tkill() 9122 0) ×2 + 12.22sINFOros2_control_node-1process has finished cleanly [pid 9080] ×2 + 12.39sERRORobjective_server_node_main-14process has died [pid 9122, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_sma8mrqu --params-file /tmp/launch_params_7u7lmdb7 --params-file /tmp/launch_params_ehnvgtsy --params-file /tmp/launch_params__0pqqgq4 --params-file /tmp/launch_params_zd20p02k --params-file /tmp/launch_params_6qt11yyf --params-file /tmp/launch_params_qh0bkmfd --params-file /tmp/launch_params_kuzcwd5a --params-file /tmp/launch_params_7eohqh3y']. ×2 + 12.39sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.90sINFOweb_bridge-19process has finished cleanly [pid 9127] ×2 + 12.90sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 5.5s | 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: 1786121995.11046481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121995.17062140 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121995.77441239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953738 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953738 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786121997.89454103 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771871 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771871 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786121999.49768209 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309364 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309364 ms (missed cycles : 5).[0m ×2 + 5.12sINFOobjective_server_node[2026-08-07 17:00:00.230] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.36sWARNros2_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 + 5.98sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 5.98sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.69sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 6.69sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.83sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.88sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [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 + 6.89sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 6.89sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.91sINFOobjective_server_node[2026-08-07 17:00:02.015] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6).[0m ×2 + 7.34sINFOobjective_server_node[0;93m2026-08-07 17:00:02.445477096 [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 + 7.36sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470382384 [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 + 7.36sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470414800 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2).[0m ×2 + 9.30sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786122004.40482450 seconds ×3 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 10.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786122005.13435555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 10.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 10.11sINFOobjective_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 + 10.12sINFOobjective_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 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2).[0m ×2 + 10.40sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 10.45sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Received new action goal ×2 + 10.45sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Accepted new action goal ×2 + 10.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 43 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412437 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412437 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534803 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534803 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279026 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279026 ms (missed cycles : 5).[0m ×2 + 2.90sWARNros2_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 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786121994.44849515 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157538 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157538 ms (missed cycles : 2).[0m ×2 + 3.75sWARNobjective_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 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.75sINFOobjective_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 + 3.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121995.11046481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121995.17062140 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121995.77441239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953738 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953738 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786121997.89454103 seconds ×3 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771871 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771871 ms (missed cycles : 3).[0m ×2 + 8.14sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786121999.49768209 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309364 ms (missed cycles : 5). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309364 ms (missed cycles : 5).[0m ×2 + 8.87sINFOobjective_server_node[2026-08-07 17:00:00.230] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.10sWARNros2_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 + 9.73sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 9.73sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 9.94sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.44sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 10.44sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.58sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.63sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [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 + 10.63sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 10.63sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.66sINFOobjective_server_node[2026-08-07 17:00:02.015] [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 ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×11 + 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 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-07 17:00:55.076] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-07 17:00:55.076] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763914 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763914 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925061 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925061 ms (missed cycles : 4).[0m ×2 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843050 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843050 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786122058.68202305 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409690 ms (missed cycles : 2). + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409690 ms (missed cycles : 2).[0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786122059.29119635 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 (3.01e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.49sINFOros2_control_node[2026-08-07 17:00:59.455] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 17:00:59.455] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101312 ms (missed cycles : 6). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101312 ms (missed cycles : 6).[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 + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2).[0m ×2 + 6.18sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.19sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539276 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539276 ms (missed cycles : 3).[0m ×2 + 7.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786122062.33679914 seconds ×3 + 7.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.53sWARNros2_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 + 8.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786122062.96585989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112267 ms (missed cycles : 3). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112267 ms (missed cycles : 3).[0m ×2 + 8.04sINFOobjective_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 + 8.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 8.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 8.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 8.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 8.15sINFOros2_control_node[2026-08-07 17:01:03.109] [info] Received new action goal ×2 + 8.15sINFOros2_control_node[2026-08-07 17:01:03.110] [info] Accepted new action goal ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2).[0m ×2 + 9.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786122064.69860029 seconds ×3 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017204 ms (missed cycles : 2). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017204 ms (missed cycles : 2).[0m ×2 + 10.36sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786122065.32713819 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 · 38 warnings · 233 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786122058.68202305 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409690 ms (missed cycles : 2). + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409690 ms (missed cycles : 2).[0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: 1786122059.29119635 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 (3.01e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.77sINFOros2_control_node[2026-08-07 17:00:59.455] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-07 17:00:59.455] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101312 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101312 ms (missed cycles : 6).[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 + 2.09sINFOobjective_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2).[0m ×2 + 2.46sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.48sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539276 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539276 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786122062.33679914 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.81sWARNros2_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 + 4.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786122062.96585989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112267 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112267 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 4.43sINFOros2_control_node[2026-08-07 17:01:03.109] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-07 17:01:03.110] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786122064.69860029 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017204 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017204 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786122065.32713819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 6.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.82sINFOros2_control_node[2026-08-07 17:01:05.501] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-08-07 17:01:05.501] [info] Accepted new action goal ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355908 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355908 ms (missed cycles : 5).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580150 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580150 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 47 warnings · 543 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.17sINFOobjective_server_node[2026-08-07 16:58:33.328] [moveit_pro_license] [info] ×2 + 0.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.17sINFOobjective_server_node************************************************* ×4 + 0.17sINFOobjective_server_node* MoveIt Pro License ×2 + 0.17sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.27sINFOobjective_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::MujocoBehaviorsLoader ×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::MTCCoreBehaviorsLoader ×2 + 0.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.67sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.67sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.67sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.67sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.67sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.67sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.67sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.67sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.68sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.68sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.68sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.68sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.68sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.68sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.80sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.90sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.92sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.95sINFOros2_control_node[2026-08-07 16:58:34.104] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-08-07 16:58:34.105] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.09sINFOcomponent_container_mt[2026-08-07 16:58:34.248] [moveit_pro_license] [info] ×2 + 1.09sINFOcomponent_container_mt************************************************* ×4 + 1.09sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.09sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.22sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×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 + 1.29sINFOros2-8process has finished cleanly [pid 9087] ×2 + 1.31sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.31sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×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 16:58:34.519] [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 16:58:34.519] [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 16:58:34.549] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.39sINFOros2_control_node[2026-08-07 16:58:34.549] [info] Controller state will be published at 50 Hz. ×2 + 1.40sINFOros2_control_node[2026-08-07 16:58:34.556] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2).[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.72sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.72sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.73sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.73sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.77sINFOros2-6process has finished cleanly [pid 9085] ×2 + 1.78sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.78sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.78sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.79sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.79sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.00sWARNobjective_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 + 2.11sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 2.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 2.14sINFOros2-3process has finished cleanly [pid 9082] ×2 + 2.17sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.19sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 2.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 2.52sINFOros2-4process has finished cleanly [pid 9083] ×2 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.57sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.92sINFOros2-5process has finished cleanly [pid 9084] ×2 + 2.94sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 2.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 2.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.02sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 3.02sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.18sWARNobjective_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 ×6 + 3.19sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 3.19sINFOobjective_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 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 3.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 3.37sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 3.37sINFOros2-7process has finished cleanly [pid 9086] ×2 + 3.41sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.41sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.41sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.42sINFOforce_torque_sensor_broadcasterconfigure successful + 3.42sINFOros2_control_nodeconfigure successful[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.42sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.73sINFOros2-2process has finished cleanly [pid 9081] ×2 + 3.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 4.79sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 6.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 7.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 7.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 43 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285732 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285732 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2).[0m ×2 + 3.26sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Got request to cancel active goal. ×2 + 3.35sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Canceling active goal... ×2 + 3.36sERRORobjective_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: 1786122163.95515180 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sWARNobjective_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 + 3.95sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.95sINFOobjective_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 + 3.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122164.55879188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122165.55892015 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786122166.15740538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.56sINFOobjective_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 + 5.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786122166.15912104 seconds ×3 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786122166.88466811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786122166.88513899 seconds ×3 + 6.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122167.47912669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 32 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131582 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131582 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 2.87sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.89sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1786121932.07761526 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 ×2 + 4.36sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.36sINFOobjective_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 ×4 + 4.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.27sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 38 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2).[0m ×2 + 1.22sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Got request to cancel active goal. ×2 + 1.31sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Canceling active goal... ×2 + 1.32sERRORobjective_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: 1786122163.95515180 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sWARNobjective_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 + 1.91sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.92sINFOobjective_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 + 1.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122164.55879188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122165.55892015 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786122166.15740538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.52sINFOobjective_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 + 3.52sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786122166.15912104 seconds ×3 + 3.76sWARNros2_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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786122166.88466811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786122166.88513899 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122167.47912669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122168.57925653 seconds ×3 + 5.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038400 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038400 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 29 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412437 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412437 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534803 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534803 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279026 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279026 ms (missed cycles : 5).[0m ×2 + 2.90sWARNros2_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 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786121994.44849515 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157538 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157538 ms (missed cycles : 2).[0m ×2 + 3.75sWARNobjective_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 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.75sINFOobjective_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 + 3.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121995.11046481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121995.17062140 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121995.77441239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953738 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953738 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786121997.89454103 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 34 warnings · 91 info |
+ 0.00sWARNros2_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 + 0.09sINFOros2_control_node[2026-08-07 16:59:05.438] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-08-07 16:59:05.438] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2).[0m ×2 + 1.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4).[0m ×2 + 1.94sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.95sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Accepted new action goal ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121948.68678355 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.93sWARNobjective_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 + 3.94sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.94sINFOobjective_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 + 3.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121949.31881285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121949.39894938 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121950.01975727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6).[0m ×2 + 6.03sWARNros2_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 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 34 warnings · 140 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786122151.45349836 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.56sWARNobjective_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 + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.07sWARNros2_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 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 51 warnings · 470 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] Controller state will be published at 50 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-07 16:58:34.556] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2).[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.42sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.43sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.43sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.46sINFOros2-6process has finished cleanly [pid 9085] ×2 + 0.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.69sWARNobjective_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 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.83sINFOros2-3process has finished cleanly [pid 9082] ×2 + 0.87sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 9083] ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.27sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.61sINFOros2-5process has finished cleanly [pid 9084] ×2 + 1.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 1.71sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sWARNobjective_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 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.88sINFOobjective_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 ×14 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 2.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 2.06sINFOros2-7process has finished cleanly [pid 9086] ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.42sINFOros2-2process has finished cleanly [pid 9081] ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 7.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.08sINFOobjective_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 + 7.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.19sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.21sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 7.21sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 32 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_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: 1786122151.45349836 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sWARNobjective_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 + 3.02sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 39 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1786122163.95515180 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sWARNobjective_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 + 2.94sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.94sINFOobjective_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 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122164.55879188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122165.55892015 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786122166.15740538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786122166.15912104 seconds ×3 + 4.78sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786122166.88466811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786122166.88513899 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122167.47912669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5).[0m ×2 + 6.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786122168.57925653 seconds ×3 + 7.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038400 ms (missed cycles : 3). | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 26 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 17:00:02.015] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-07 17:00:02.445477096 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470382384 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470414800 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786122004.40482450 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNobjective_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 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.97sINFOobjective_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 + 4.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786122005.13435555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.13sINFOobjective_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Accepted new action goal ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719858 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719858 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 32 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2).[0m ×2 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4).[0m ×2 + 1.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.35sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121948.68678355 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sWARNobjective_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 + 3.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.34sINFOobjective_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 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121949.31881285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121949.39894938 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121950.01975727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866950 ms (missed cycles : 3).[0m ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.95sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.97sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063800 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.063800 ms (missed cycles : 4).[0m ×2 + 1.05sINFOobjective_server_nodeFound path in 1 iterations (0.00324009 s). ×2 + 1.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOros2_control_node[2026-08-07 16:59:40.791] [info] Received new action goal ×2 + 1.23sINFOros2_control_node[2026-08-07 16:59:40.791] [info] Accepted new action goal ×2 + 1.66sINFOros2_control_node[2026-08-07 16:59:41.224] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-08-07 16:59:41.224] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806231 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806231 ms (missed cycles : 4).[0m ×2 + 2.65sWARNros2_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 + 2.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOros2_control_node[2026-08-07 16:59:42.545] [info] Got request to cancel active goal. ×2 + 2.99sINFOros2_control_node[2026-08-07 16:59:42.545] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786121982.55477881 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622265 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622265 ms (missed cycles : 2).[0m ×2 + 3.59sWARNobjective_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 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.59sINFOobjective_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 + 3.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786121983.21163702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.83sINFOros2_control_node[2026-08-07 16:59:43.385] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-07 16:59:43.386] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768843 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768843 ms (missed cycles : 4).[0m ×2 + 4.29sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655295 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655295 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170872 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170872 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418053 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418053 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535163 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535163 ms (missed cycles : 5).[0m ×2 + 2.13sWARNros2_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 + 2.67sINFOobjective_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 + 2.73sINFOobjective_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 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.04sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786122075.37053943 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089644 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089644 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 ×2 + 3.69sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786122076.02068138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.78sINFOobjective_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 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeFound path in 70 iterations (0.023813 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____________________________X________________________________________X] ×2 + 3.98sINFOros2_control_node[2026-08-07 17:01:16.307] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-08-07 17:01:16.307] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375479 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375479 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278494 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.278494 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 26 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887706 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887706 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382026 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382026 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998454 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998454 ms (missed cycles : 2).[0m ×2 + 2.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097859 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097859 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786122107.89159226 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sWARNobjective_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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.96sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786122108.66057944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313233 ms (missed cycles : 7). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313233 ms (missed cycles : 7).[0m ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-07 17:01:48.905] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-07 17:01:48.905] [info] Accepted new action goal ×2 + 4.93sWARNros2_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 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831883 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831883 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743875 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743875 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970389 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970389 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041142 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041142 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993217 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993217 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786122140.47565031 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975386 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975386 ms (missed cycles : 5).[0m ×2 + 3.73sWARNobjective_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 + 3.73sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.73sINFOobjective_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 + 3.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786122141.08322144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.87sINFOros2_control_node[2026-08-07 17:02:21.218] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-07 17:02:21.218] [info] Accepted new action goal ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940754 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940754 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970576 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970576 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 3.952956 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_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: 1786122151.45349836 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sWARNobjective_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 + 3.02sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5).[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 3.952956 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_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: 1786122151.45349836 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sWARNobjective_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 + 3.02sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 38 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1786122163.95515180 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sWARNobjective_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 + 2.94sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.94sINFOobjective_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 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122164.55879188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122165.55892015 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786122166.15740538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786122166.15912104 seconds ×3 + 4.78sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786122166.88466811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786122166.88513899 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122167.47912669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 38 warnings · 144 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624379 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.282120 ms (missed cycles : 5).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467047 ms (missed cycles : 2).[0m ×2 + 2.24sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.33sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-08-07 17:02:43.949] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1786122163.95515180 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sWARNobjective_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 + 2.94sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.94sINFOobjective_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 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786122164.55879188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128667 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786122165.55892015 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467187 ms (missed cycles : 5).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786122166.15740538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.54sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786122166.15912104 seconds ×3 + 4.78sWARNros2_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 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681381 ms (missed cycles : 4).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786122166.88466811 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786122166.88513899 seconds ×3 + 5.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786122167.47912669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 29 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131582 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131582 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 2.87sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.89sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1786121932.07761526 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 ×2 + 4.36sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.36sINFOobjective_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 ×4 + 4.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.27sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 29 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131582 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131582 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.87sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 2.87sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.89sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 2.89sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 3.70sERRORobjective_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: 1786121932.07761526 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 4.36sWARNobjective_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 ×2 + 4.36sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.36sINFOobjective_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 ×4 + 4.36sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.27sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 29 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1786121932.07761526 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 3.25sWARNobjective_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 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.25sINFOobjective_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 + 3.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 29 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1786121932.07761526 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 3.25sWARNobjective_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 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.25sINFOobjective_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 + 3.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 29 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1786121932.07761526 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 3.25sWARNobjective_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 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.25sINFOobjective_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 + 3.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 29 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116116 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926836 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-08-07 16:58:51.266] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373557 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_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 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Got request to cancel active goal. ×2 + 2.57sINFOros2_control_node[2026-08-07 16:58:52.052] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1786121932.07761526 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267179 ms (missed cycles : 2).[0m ×2 + 3.25sWARNobjective_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 + 3.25sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.25sINFOobjective_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 + 3.26sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786121932.73962975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786121932.84975481 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786121933.45662951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959949 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-07 16:58:53.650] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549969 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705756 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 32 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2).[0m ×2 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4).[0m ×2 + 1.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.35sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121948.68678355 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sWARNobjective_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 + 3.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.34sINFOobjective_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 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121949.31881285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121949.39894938 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121950.01975727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 32 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2).[0m ×2 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4).[0m ×2 + 1.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.35sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121948.68678355 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sWARNobjective_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 + 3.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.34sINFOobjective_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 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121949.31881285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121949.39894938 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121950.01975727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 32 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667828 ms (missed cycles : 2).[0m ×2 + 0.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.508968 ms (missed cycles : 4).[0m ×2 + 1.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.35sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 16:59:07.300] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.810038 ms (missed cycles : 5).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786121948.68678355 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sWARNobjective_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 + 3.34sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.34sINFOobjective_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 + 3.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786121949.31881285 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007679 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786121949.39894938 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786121950.01975727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-08-07 16:59:10.145] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745846 ms (missed cycles : 6).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771192 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.068008 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 28 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375777 ms (missed cycles : 5).[0m ×2 + 0.24sWARNros2_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 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 16:59:18.201] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482904 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003168 ms (missed cycles : 4).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851516 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-07 16:59:20.541] [info] Accepted new action goal ×2 + 3.35sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1786121960.55541062 seconds ×3 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Got request to cancel active goal. ×2 + 3.37sINFOros2_control_node[2026-08-07 16:59:20.551] [info] Canceling active goal... ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.99sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786121961.20364928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-07 16:59:21.407] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442758 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121729 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.571664 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 26 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412437 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412437 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534803 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534803 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279026 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.279026 ms (missed cycles : 5).[0m ×2 + 2.90sWARNros2_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 + 3.09sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786121994.44849515 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157538 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157538 ms (missed cycles : 2).[0m ×2 + 3.75sWARNobjective_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 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.75sINFOobjective_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 + 3.75sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786121995.11046481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.80sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121995.17062140 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121995.77441239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 29 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: 1786121995.11046481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786121995.17062140 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762792 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786121995.77441239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-07 16:59:55.888] [info] Accepted new action goal ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894716 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953738 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953738 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786121997.89454103 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771871 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771871 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786121999.49768209 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309364 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309364 ms (missed cycles : 5).[0m ×2 + 5.12sINFOobjective_server_node[2026-08-07 17:00:00.230] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.36sWARNros2_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 + 5.98sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 5.98sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.69sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 6.69sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.83sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.88sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [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 + 6.89sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 6.89sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.91sINFOobjective_server_node[2026-08-07 17:00:02.015] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 17:00:02.015] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-07 17:00:02.445477096 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470382384 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470414800 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786122004.40482450 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNobjective_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 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.97sINFOobjective_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 + 4.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786122005.13435555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.13sINFOobjective_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Accepted new action goal ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 17:00:02.015] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-07 17:00:02.445477096 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470382384 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470414800 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786122004.40482450 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNobjective_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 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.97sINFOobjective_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 + 4.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786122005.13435555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.13sINFOobjective_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Accepted new action goal ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 17:00:02.015] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-07 17:00:02.445477096 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470382384 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470414800 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786122004.40482450 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNobjective_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 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.97sINFOobjective_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 + 4.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786122005.13435555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.13sINFOobjective_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Accepted new action goal ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090630803 [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 + 0.00sINFOobjective_server_node[0;93m2026-08-07 17:00:01.090666217 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035495 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_node[2026-08-07 17:00:01.295] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798720624 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-07 17:00:01.798747878 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 17:00:01.934] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.986900137 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991311145 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 17:00:01.991349774 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 17:00:02.015] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614530 ms (missed cycles : 6).[0m ×2 + 1.35sINFOobjective_server_node[0;93m2026-08-07 17:00:02.445477096 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470382384 [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 + 1.38sINFOobjective_server_node[0;93m2026-08-07 17:00:02.470414800 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670579 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786122004.40482450 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030785 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNobjective_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 + 3.97sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.97sINFOobjective_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 + 4.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786122005.13435555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sINFOobjective_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 + 4.13sINFOobjective_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844948 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-07 17:00:05.552] [info] Accepted new action goal ×2 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 9 errors · 23 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 ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-07 17:00:55.076] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-07 17:00:55.076] [info] Accepted new action goal ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763914 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763914 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925061 ms (missed cycles : 4). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925061 ms (missed cycles : 4).[0m ×2 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843050 ms (missed cycles : 3). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843050 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786122058.68202305 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409690 ms (missed cycles : 2). + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409690 ms (missed cycles : 2).[0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786122059.29119635 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 (3.01e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.49sINFOros2_control_node[2026-08-07 17:00:59.455] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 17:00:59.455] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101312 ms (missed cycles : 6). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.101312 ms (missed cycles : 6).[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 ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2).[0m ×2 + 6.18sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 6.19sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 29 warnings · 166 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688228 ms (missed cycles : 2).[0m ×2 + 0.31sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539276 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539276 ms (missed cycles : 3).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786122062.33679914 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.65sWARNros2_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 + 2.09sWARNobjective_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 + 2.09sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.09sINFOobjective_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 + 2.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786122062.96585989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112267 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112267 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_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 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.27sINFOros2_control_node[2026-08-07 17:01:03.109] [info] Received new action goal ×2 + 2.27sINFOros2_control_node[2026-08-07 17:01:03.110] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939230 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_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 + 3.59sINFOobjective_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 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786122064.69860029 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017204 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017204 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786122065.32713819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.66sINFOros2_control_node[2026-08-07 17:01:05.501] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-07 17:01:05.501] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355908 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355908 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580150 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580150 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 26 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887706 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887706 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382026 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382026 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998454 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998454 ms (missed cycles : 2).[0m ×2 + 2.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097859 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.097859 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786122107.89159226 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sWARNobjective_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 + 3.96sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.96sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786122108.66057944 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313233 ms (missed cycles : 7). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313233 ms (missed cycles : 7).[0m ×2 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-07 17:01:48.905] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-07 17:01:48.905] [info] Accepted new action goal ×2 + 4.93sWARNros2_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 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831883 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831883 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743875 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743875 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 32 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063882 ms (missed cycles : 2).[0m ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 17:01:55.620] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983625 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_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 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759646 ms (missed cycles : 2).[0m ×2 + 2.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-08-07 17:01:57.485] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023357 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786122118.87074828 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554106 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.35sINFOobjective_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 + 4.38sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786122119.60731268 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:01:59.791] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566882 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513248 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493739 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493739 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126727 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126727 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862425 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862425 ms (missed cycles : 2).[0m ×2 + 2.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826281 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826281 ms (missed cycles : 4).[0m ×2 + 3.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sERRORobjective_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: 1786122129.94774413 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNobjective_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 + 3.78sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.78sINFOobjective_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 + 3.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786122130.54946518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.86e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 17:02:10.883] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 17:02:10.883] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121340 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121340 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186302 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186302 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 34 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786122151.45349836 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.56sWARNobjective_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 + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sWARNros2_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 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 34 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786122151.45349836 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.56sWARNobjective_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 + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sWARNros2_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 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 34 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786122151.45349836 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.56sWARNobjective_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 + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sWARNros2_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 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 34 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283499 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786122151.45349836 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.56sWARNobjective_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 + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.56sINFOobjective_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 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.60sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sWARNros2_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 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[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 3.952956 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952956 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010643 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001174 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sERRORobjective_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: 1786122151.45349836 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.02sWARNobjective_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 + 3.02sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786122152.06172204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786122152.14186001 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438472 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786122152.75021315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786122152.77334762 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508907 ms (missed cycles : 6).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786122153.48919225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-08-07 17:02:33.613] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670015 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362050 ms (missed cycles : 5).[0m ×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_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 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 | 8.7s | 45 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/2026-08-07-16-58-27-701197-928c360c9608-9032 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683625 ms (missed cycles : 2). + 2.04sINFOros2_control_node-1process started with pid [9080] ×2 + 2.04sINFOmove_group-9process started with pid [9117] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [9118] ×2 + 2.04sINFOwaypoint_manager_node-11process started with pid [9119] ×2 + 2.04sINFOmove_joint_resampler_node-12process started with pid [9120] ×2 + 2.04sINFOmove_end_effector_resampler_node-13process started with pid [9121] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [9122] ×2 + 2.04sINFOcomponent_container_mt-15process started with pid [9123] ×2 + 2.04sINFOcomponent_container_mt-16process started with pid [9124] ×2 + 2.04sINFOexecute_objective_bridge-17process started with pid [9125] ×2 + 2.04sINFOui_teleop_bridge-18process started with pid [9126] ×2 + 2.04sINFOweb_bridge-19process started with pid [9127] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [9191] ×2 + 2.05sINFOvideo_server-21process started with pid [9192] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [9193] ×2 + 2.05sINFOweb_video_auth_proxy-23process started with pid [9194] ×2 + 2.05sINFOros2-2process started with pid [9081] ×2 + 2.05sINFOros2-3process started with pid [9082] ×2 + 2.05sINFOros2-4process started with pid [9083] ×2 + 2.05sINFOros2-5process started with pid [9084] ×2 + 2.05sINFOros2-6process started with pid [9085] ×2 + 2.05sINFOros2-7process started with pid [9086] ×2 + 2.05sINFOros2-8process started with pid [9087] ×2 + 2.07sINFOcontroller_managerReceived robot description from topic. + 2.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.08sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.12sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683625 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.12sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.30sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.59sINFOvideo_server2026/08/07 16:58:31 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.59sINFOvideo_server2026/08/07 16:58:31 INF configuration loaded from /tmp/moveit-webrtc-730iy54u/mediamtx.yml ×2 + 2.60sINFOvideo_server2026/08/07 16:58:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.60sINFOvideo_server2026/08/07 16:58:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100417 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100417 ms (missed cycles : 2).[0m ×2 + 3.04sINFOmove_group[2026-08-07 16:58:31.504] [moveit_pro_license] [info] ×2 + 3.04sINFOmove_group************************************************* ×4 + 3.04sINFOmove_group* MoveIt Pro License ×2 + 3.04sINFOmove_group* 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' + 3.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.32sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.40sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.46sINFOwaypoint_manager_node[2026-08-07 16:58:31.925] [moveit_pro_license] [info] ×2 + 3.46sINFOwaypoint_manager_node************************************************* ×4 + 3.46sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.46sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.46sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.47sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.48sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.49sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.50sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.60sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.61sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.69sINFOmove_group ×4 + 3.69sINFOmove_group[92mYou can start planning now![0m ×2 + 3.74sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.74sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107964 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.107964 ms (missed cycles : 2).[0m ×2 + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.86sINFOobjective_server_node[2026-08-07 16:58:33.328] [moveit_pro_license] [info] ×2 + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.86sINFOobjective_server_node************************************************* ×4 + 4.86sINFOobjective_server_node* MoveIt Pro License ×2 + 4.86sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.96sINFOobjective_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 + 4.96sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.98sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.98sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.36sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.36sINFOcontroller_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 + 5.36sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 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 + 5.37sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.37sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.37sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.37sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.37sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.37sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.37sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.49sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.49sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.49sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.49sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 5.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 5.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.64sINFOros2_control_node[2026-08-07 16:58:34.104] [info] Controller state will be published at 20 Hz. ×2 + 5.64sINFOros2_control_node[2026-08-07 16:58:34.105] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.78sINFOcomponent_container_mt[2026-08-07 16:58:34.248] [moveit_pro_license] [info] ×2 + 5.78sINFOcomponent_container_mt************************************************* ×4 + 5.78sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.78sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.91sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 5.93sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.93sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.93sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.93sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.98sINFOros2-8process has finished cleanly [pid 9087] ×2 + 6.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 6.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 6.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] Controller state will be published at 50 Hz. ×2 + 6.09sINFOros2_control_node[2026-08-07 16:58:34.556] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2).[0m ×2 + 6.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.42sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 6.42sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 6.43sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.43sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.46sINFOros2-6process has finished cleanly [pid 9085] ×2 + 6.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.48sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.69sWARNobjective_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 + 6.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 6.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 6.83sINFOros2-3process has finished cleanly [pid 9082] ×2 + 6.86sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.87sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.19sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 7.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 7.21sINFOros2-4process has finished cleanly [pid 9083] ×2 + 7.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.26sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.28sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.61sINFOros2-5process has finished cleanly [pid 9084] ×2 + 7.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 7.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 7.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.71sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 7.71sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.87sWARNobjective_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 + 7.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 7.88sINFOobjective_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 + 7.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 7.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 8.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 8.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 8.06sINFOros2-7process has finished cleanly [pid 9086] ×2 + 8.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.11sINFOforce_torque_sensor_broadcasterconfigure successful + 8.11sINFOros2_control_nodeconfigure successful[0m ×2 + 8.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.42sINFOros2-2process has finished cleanly [pid 9081] ×2 + 8.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 9.48sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 10.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 10.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 46 warnings · 318 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOros2-5process has finished cleanly [pid 9084] ×2 + 0.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.22sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNobjective_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 + 0.39sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.39sINFOobjective_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 + 0.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.57sINFOros2-7process has finished cleanly [pid 9086] ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 2.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 4.51sWARNros2_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 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 5.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.72sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 45 warnings · 418 info |
+ 0.00sWARNobjective_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 + 0.11sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.14sINFOros2-3process has finished cleanly [pid 9082] ×2 + 0.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.19sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9083] ×2 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.58sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.92sINFOros2-5process has finished cleanly [pid 9084] ×2 + 0.95sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.02sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.19sWARNobjective_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 + 1.19sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.22sINFOros2_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 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 1.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.37sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.37sINFOros2-7process has finished cleanly [pid 9086] ×2 + 1.41sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.41sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.42sINFOforce_torque_sensor_broadcasterconfigure successful + 1.42sINFOros2_control_nodeconfigure successful[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.74sINFOros2-2process has finished cleanly [pid 9081] ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 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 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 2.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_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 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.52sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 43 warnings · 318 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.08sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOros2-5process has finished cleanly [pid 9084] ×2 + 0.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.19sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.19sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.19sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.22sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sWARNobjective_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 + 0.39sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.39sINFOobjective_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 + 0.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.57sINFOros2-7process has finished cleanly [pid 9086] ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 2.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 4.51sWARNros2_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 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 5.58sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.72sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 45 warnings · 439 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] Controller state will be published at 50 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-07 16:58:34.556] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2).[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.42sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.43sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.43sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.46sINFOros2-6process has finished cleanly [pid 9085] ×2 + 0.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.69sWARNobjective_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 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.83sINFOros2-3process has finished cleanly [pid 9082] ×2 + 0.87sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 9083] ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.27sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.61sINFOros2-5process has finished cleanly [pid 9084] ×2 + 1.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 1.71sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sWARNobjective_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 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.88sINFOobjective_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 ×12 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 2.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 2.06sINFOros2-7process has finished cleanly [pid 9086] ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.42sINFOros2-2process has finished cleanly [pid 9081] ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 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/2026-08-07-16-58-27-701197-928c360c9608-9032 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683625 ms (missed cycles : 2). + 2.04sINFOros2_control_node-1process started with pid [9080] ×2 + 2.04sINFOmove_group-9process started with pid [9117] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [9118] ×2 + 2.04sINFOwaypoint_manager_node-11process started with pid [9119] ×2 + 2.04sINFOmove_joint_resampler_node-12process started with pid [9120] ×2 + 2.04sINFOmove_end_effector_resampler_node-13process started with pid [9121] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [9122] ×2 + 2.04sINFOcomponent_container_mt-15process started with pid [9123] ×2 + 2.04sINFOcomponent_container_mt-16process started with pid [9124] ×2 + 2.04sINFOexecute_objective_bridge-17process started with pid [9125] ×2 + 2.04sINFOui_teleop_bridge-18process started with pid [9126] ×2 + 2.04sINFOweb_bridge-19process started with pid [9127] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [9191] ×2 + 2.05sINFOvideo_server-21process started with pid [9192] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [9193] ×2 + 2.05sINFOweb_video_auth_proxy-23process started with pid [9194] ×2 + 2.05sINFOros2-2process started with pid [9081] ×2 + 2.05sINFOros2-3process started with pid [9082] ×2 + 2.05sINFOros2-4process started with pid [9083] ×2 + 2.05sINFOros2-5process started with pid [9084] ×2 + 2.05sINFOros2-6process started with pid [9085] ×2 + 2.05sINFOros2-7process started with pid [9086] ×2 + 2.05sINFOros2-8process started with pid [9087] ×2 + 2.07sINFOcontroller_managerReceived robot description from topic. + 2.07sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.08sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.12sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683625 ms (missed cycles : 2).[0m ×2 + 2.12sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.12sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.30sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.59sINFOvideo_server2026/08/07 16:58:31 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.59sINFOvideo_server2026/08/07 16:58:31 INF configuration loaded from /tmp/moveit-webrtc-730iy54u/mediamtx.yml ×2 + 2.60sINFOvideo_server2026/08/07 16:58:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.60sINFOvideo_server2026/08/07 16:58:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 45 warnings · 439 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] Controller state will be published at 50 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-07 16:58:34.556] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2).[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.42sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.43sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.43sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.46sINFOros2-6process has finished cleanly [pid 9085] ×2 + 0.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.69sWARNobjective_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 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.83sINFOros2-3process has finished cleanly [pid 9082] ×2 + 0.87sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 9083] ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.27sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.61sINFOros2-5process has finished cleanly [pid 9084] ×2 + 1.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 1.71sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sWARNobjective_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 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.88sINFOobjective_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 ×12 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 2.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 2.06sINFOros2-7process has finished cleanly [pid 9086] ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.42sINFOros2-2process has finished cleanly [pid 9081] ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 45 warnings · 418 info |
+ 0.00sWARNobjective_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 + 0.11sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.11sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.14sINFOros2-3process has finished cleanly [pid 9082] ×2 + 0.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.19sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9083] ×2 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.58sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.80sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.92sINFOros2-5process has finished cleanly [pid 9084] ×2 + 0.95sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.02sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.19sWARNobjective_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 + 1.19sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.19sINFOobjective_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 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.22sINFOros2_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 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 1.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.37sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.37sINFOros2-7process has finished cleanly [pid 9086] ×2 + 1.41sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.41sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.42sINFOforce_torque_sensor_broadcasterconfigure successful + 1.42sINFOros2_control_nodeconfigure successful[0m ×2 + 1.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.74sINFOros2-2process has finished cleanly [pid 9081] ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 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 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 2.79sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_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 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.52sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 45 warnings · 439 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-07 16:58:34.519] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.08sINFOros2_control_node[2026-08-07 16:58:34.549] [info] Controller state will be published at 50 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-07 16:58:34.556] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813733 ms (missed cycles : 2).[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.42sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.43sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.43sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.46sINFOros2-6process has finished cleanly [pid 9085] ×2 + 0.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.48sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.69sWARNobjective_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 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 0.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 0.83sINFOros2-3process has finished cleanly [pid 9082] ×2 + 0.87sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.87sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.87sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.87sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.87sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.88sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.88sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.88sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 9083] ×2 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.27sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.28sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.61sINFOros2-5process has finished cleanly [pid 9084] ×2 + 1.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 1.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 1.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_node[2026-08-07 16:58:36.173] [info] Controller state will be published at 10 Hz. ×2 + 1.71sINFOros2_control_node[2026-08-07 16:58:36.174] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.87sWARNobjective_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 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.88sINFOobjective_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 ×12 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786121916.34531379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786121916.35551238 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841396 ms (missed cycles : 4).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.06sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai + 2.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wh_1i8qk --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_cnbuzvq4 --params-file /tmp/launch_params_uxiprbai [0m ×2 + 2.06sINFOros2-7process has finished cleanly [pid 9086] ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.42sINFOros2-2process has finished cleanly [pid 9081] ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 3.48sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 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 | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 43 warnings · 257 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 + 7.29sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549775 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549775 ms (missed cycles : 4).[0m ×2 + 7.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 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 | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 40 warnings · 249 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.32sINFOros2-2process has finished cleanly [pid 9081] ×2 + 0.37sWARNobjective_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 ×6 + 0.37sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.37sINFOobjective_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 ×12 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786121916.94452882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707039 ms (missed cycles : 2).[0m ×2 + 1.38sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786121918.00467610 seconds ×3 + 1.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786121918.63516188 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786121918.69530749 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975288 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786121919.34911585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786121919.36922240 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890191 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786121920.07748890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786121920.22823715 seconds ×3 + 3.90sWARNros2_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 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786121920.88426423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660575 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786121920.92441273 seconds ×3 + 4.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786121921.53161120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOobjective_server_nodeFound path in 0 iterations (2.3791e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Received new action goal ×2 + 5.10sINFOros2_control_node[2026-08-07 16:58:41.672] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336284 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371440 ms (missed cycles : 2).[0m ×2 | ||||