116
Total objective tests
33
Objectives passed
0
Objectives failed
83
Objectives skipped
10.4s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 62.4s | 220 warnings · 18537 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-13 02:40:58.430] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-13 02:40:58.430] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.612890 ms (missed cycles : 8). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.612890 ms (missed cycles : 8).[0m ×2 + 1.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675028 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675028 ms (missed cycles : 2).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875329 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875329 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478564 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478564 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786588862.03527260 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786588862.64221048 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 (3.34e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.49sINFOros2_control_node[2026-08-13 02:41:02.796] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-13 02:41:02.796] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791488 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791488 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400794 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400794 ms (missed cycles : 2).[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 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424802 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424802 ms (missed cycles : 3).[0m ×2 + 7.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667012 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667012 ms (missed cycles : 2).[0m ×2 + 8.82sINFOobjective_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 + 8.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 8.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 8.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 8.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 8.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851207 ms (missed cycles : 3). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851207 ms (missed cycles : 3).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205306 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205306 ms (missed cycles : 2).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241051 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241051 ms (missed cycles : 2).[0m ×2 + 11.08sINFOjoint_trajectory_controllerReceived new action goal ×3051 + 11.08sINFOjoint_trajectory_controllerAccepted new action goal ×3051 + 11.08sINFOros2_control_nodeReceived new action goal[0m ×6102 + 11.08sINFOros2_control_nodeAccepted new action goal[0m ×6102 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745853 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745853 ms (missed cycles : 2).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781608 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781608 ms (missed cycles : 2).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726433 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726433 ms (missed cycles : 2).[0m ×2 + 14.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749786 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749786 ms (missed cycles : 2).[0m ×2 + 15.82sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 15.82sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 15.82sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 15.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 15.83sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405401 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405401 ms (missed cycles : 3).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180851 ms (missed cycles : 6). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180851 ms (missed cycles : 6).[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707451 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707451 ms (missed cycles : 2).[0m ×2 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184770 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184770 ms (missed cycles : 2).[0m ×2 + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275251 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275251 ms (missed cycles : 2).[0m ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882863 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882863 ms (missed cycles : 2).[0m ×2 + 21.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838786 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838786 ms (missed cycles : 2).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790449 ms (missed cycles : 2). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790449 ms (missed cycles : 2).[0m ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800053 ms (missed cycles : 2). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800053 ms (missed cycles : 2).[0m ×2 + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021994 ms (missed cycles : 2). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021994 ms (missed cycles : 2).[0m ×2 + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060278 ms (missed cycles : 4). + 26.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060278 ms (missed cycles : 4).[0m ×2 + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236122 ms (missed cycles : 4). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236122 ms (missed cycles : 4).[0m ×2 + 28.05sWARNros2_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 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977489 ms (missed cycles : 2). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977489 ms (missed cycles : 2).[0m ×2 + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918058 ms (missed cycles : 3). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918058 ms (missed cycles : 3).[0m ×2 + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135904 ms (missed cycles : 2). + 30.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135904 ms (missed cycles : 2).[0m ×2 + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709852 ms (missed cycles : 2). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709852 ms (missed cycles : 2).[0m ×2 + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836245 ms (missed cycles : 2). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836245 ms (missed cycles : 2).[0m ×2 + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.788365 ms (missed cycles : 8). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.788365 ms (missed cycles : 8).[0m ×2 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424777 ms (missed cycles : 2). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424777 ms (missed cycles : 2).[0m ×2 + 35.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748591 ms (missed cycles : 3). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748591 ms (missed cycles : 3).[0m ×2 + 36.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.615959 ms (missed cycles : 9). + 36.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.615959 ms (missed cycles : 9).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785251 ms (missed cycles : 3). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785251 ms (missed cycles : 3).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633251 ms (missed cycles : 5). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633251 ms (missed cycles : 5).[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447975 ms (missed cycles : 2). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447975 ms (missed cycles : 2).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166822 ms (missed cycles : 2). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166822 ms (missed cycles : 2).[0m ×2 + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793990 ms (missed cycles : 2). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793990 ms (missed cycles : 2).[0m ×2 + 42.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721088 ms (missed cycles : 2). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721088 ms (missed cycles : 2).[0m ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720796 ms (missed cycles : 2). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720796 ms (missed cycles : 2).[0m ×2 + 45.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242352 ms (missed cycles : 3). + 45.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242352 ms (missed cycles : 3).[0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376689 ms (missed cycles : 5). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376689 ms (missed cycles : 5).[0m ×2 + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.491721 ms (missed cycles : 7). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.491721 ms (missed cycles : 7).[0m ×2 + 47.62sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.21sWARNros2_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 + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926609 ms (missed cycles : 4). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.926609 ms (missed cycles : 4).[0m ×2 + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682795 ms (missed cycles : 2). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682795 ms (missed cycles : 2).[0m ×2 + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238749 ms (missed cycles : 2). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238749 ms (missed cycles : 2).[0m ×2 + 51.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707733 ms (missed cycles : 3). + 51.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707733 ms (missed cycles : 3).[0m ×2 + 52.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771327 ms (missed cycles : 2). + 52.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771327 ms (missed cycles : 2).[0m ×2 + 54.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907675 ms (missed cycles : 2). + 54.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907675 ms (missed cycles : 2).[0m ×2 + 55.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364953 ms (missed cycles : 2). + 55.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364953 ms (missed cycles : 2).[0m ×2 + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955513 ms (missed cycles : 3). + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955513 ms (missed cycles : 3).[0m ×2 + 57.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739862 ms (missed cycles : 3). + 57.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739862 ms (missed cycles : 3).[0m ×2 + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255804 ms (missed cycles : 4). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255804 ms (missed cycles : 4).[0m ×2 + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713706 ms (missed cycles : 2). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713706 ms (missed cycles : 2).[0m ×2 + 60.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892366 ms (missed cycles : 2). + 60.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892366 ms (missed cycles : 2).[0m ×2 + 61.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376319 ms (missed cycles : 5). + 61.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376319 ms (missed cycles : 5).[0m ×2 + 62.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837868 ms (missed cycles : 2). + 62.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837868 ms (missed cycles : 2).[0m ×2 + 63.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125219 ms (missed cycles : 2). + 63.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125219 ms (missed cycles : 2).[0m ×2 + 64.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734567 ms (missed cycles : 2). + 64.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734567 ms (missed cycles : 2).[0m ×2 + 65.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850121 ms (missed cycles : 2). + 65.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850121 ms (missed cycles : 2).[0m ×2 + 66.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786588924.43330240 seconds ×3 + 66.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 66.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 66.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 66.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 66.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 66.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 66.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 66.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196318 ms (missed cycles : 2). + 66.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196318 ms (missed cycles : 2).[0m ×2 + 66.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786588925.07821059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 66.83sINFOobjective_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 + 66.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 66.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 66.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 66.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 66.93sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 66.94sINFOros2_control_node[2026-08-13 02:42:05.243] [info] Received new action goal ×2 + 66.94sINFOros2_control_node[2026-08-13 02:42:05.243] [info] Accepted new action goal ×2 + 67.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678033 ms (missed cycles : 2). + 67.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678033 ms (missed cycles : 2).[0m ×2 + 68.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964900 ms (missed cycles : 2). + 68.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964900 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.0s | 168 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_node[2026-08-13 02:40:05.070] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616624009 [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 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616654822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-13 02:40:05.826] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.50sINFOobjective_server_node[0;93m2026-08-13 02:40:05.913482417 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919347368 [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 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919391636 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.59sINFOobjective_server_node[2026-08-13 02:40:05.998] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-08-13 02:40:06.396068431 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420362263 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420400459 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_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 + 3.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786588808.28740740 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786588808.97197962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.64sINFOobjective_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 + 4.65sINFOobjective_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 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937961 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937961 ms (missed cycles : 2).[0m ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 7.88sINFOros2_control_node[2026-08-13 02:40:12.287] [info] Received new action goal ×2 + 7.88sINFOros2_control_node[2026-08-13 02:40:12.287] [info] Accepted new action goal ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475086 ms (missed cycles : 5). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475086 ms (missed cycles : 5).[0m ×2 + 9.13sWARNros2_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 ×4 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477562 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477562 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167383 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167383 ms (missed cycles : 2).[0m ×2 + 11.04sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 11.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 11.06sINFOros2_control_node[2026-08-13 02:40:15.466] [info] Received new action goal ×2 + 11.06sINFOros2_control_node[2026-08-13 02:40:15.466] [info] Accepted new action goal ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731313 ms (missed cycles : 6). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731313 ms (missed cycles : 6).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394399 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394399 ms (missed cycles : 2).[0m ×2 + 14.04sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 14.04sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.09sINFOros2_control_node[2026-08-13 02:40:18.499] [info] Received new action goal ×2 + 14.09sINFOros2_control_node[2026-08-13 02:40:18.499] [info] Accepted new action goal ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926083 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926083 ms (missed cycles : 3).[0m ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403106 ms (missed cycles : 4). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403106 ms (missed cycles : 4).[0m ×2 + 15.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853841 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853841 ms (missed cycles : 2).[0m ×2 + 17.05sINFOobjective_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 + 17.06sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 17.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.06sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 17.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.06sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 17.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.06sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480241 ms (missed cycles : 5). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480241 ms (missed cycles : 5).[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181076 ms (missed cycles : 3). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181076 ms (missed cycles : 3).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204822 ms (missed cycles : 5). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204822 ms (missed cycles : 5).[0m ×2 + 20.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306434 ms (missed cycles : 4). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.306434 ms (missed cycles : 4).[0m ×2 + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177439 ms (missed cycles : 2). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177439 ms (missed cycles : 2).[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269184 ms (missed cycles : 5). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.269184 ms (missed cycles : 5).[0m ×2 + 23.84sINFOobjective_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 + 23.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.85sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.85sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.85sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.85sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.908284 ms (missed cycles : 7). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.908284 ms (missed cycles : 7).[0m ×2 + 24.73sINFOros2_control_node[2026-08-13 02:40:29.137] [info] Received new action goal ×2 + 24.73sINFOros2_control_node[2026-08-13 02:40:29.137] [info] Accepted new action goal ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925873 ms (missed cycles : 2). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925873 ms (missed cycles : 2).[0m ×2 + 25.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440242 ms (missed cycles : 2). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440242 ms (missed cycles : 2).[0m ×2 + 26.19sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 26.19sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.23sINFOros2_control_node[2026-08-13 02:40:30.640] [info] Received new action goal ×2 + 26.23sINFOros2_control_node[2026-08-13 02:40:30.640] [info] Accepted new action goal ×2 + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112620 ms (missed cycles : 2). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112620 ms (missed cycles : 2).[0m ×2 + 27.61sWARNros2_control_nodeCamera render tick took 1.05 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 + 28.38sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 28.38sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.39sINFOros2_control_node[2026-08-13 02:40:32.796] [info] Received new action goal ×2 + 28.39sINFOros2_control_node[2026-08-13 02:40:32.796] [info] Accepted new action goal ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793798 ms (missed cycles : 3). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793798 ms (missed cycles : 3).[0m ×2 + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042385 ms (missed cycles : 3). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042385 ms (missed cycles : 3).[0m ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519921 ms (missed cycles : 2). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519921 ms (missed cycles : 2).[0m ×2 + 31.43sINFOros2_control_node[2026-08-13 02:40:35.836] [info] Received new action goal ×2 + 31.43sINFOros2_control_node[2026-08-13 02:40:35.836] [info] Accepted new action goal ×2 + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856869 ms (missed cycles : 2). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856869 ms (missed cycles : 2).[0m ×2 + 32.09sWARNros2_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 + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212931 ms (missed cycles : 2). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212931 ms (missed cycles : 2).[0m ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486664 ms (missed cycles : 4). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486664 ms (missed cycles : 4).[0m ×2 + 34.02sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 34.03sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.07sINFOros2_control_node[2026-08-13 02:40:38.479] [info] Received new action goal ×2 + 34.07sINFOros2_control_node[2026-08-13 02:40:38.479] [info] Accepted new action goal ×2 + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553041 ms (missed cycles : 3). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553041 ms (missed cycles : 3).[0m ×2 + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400521 ms (missed cycles : 3). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400521 ms (missed cycles : 3).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817480 ms (missed cycles : 3). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817480 ms (missed cycles : 3).[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621860 ms (missed cycles : 2). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621860 ms (missed cycles : 2).[0m ×2 + 39.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842266 ms (missed cycles : 5). + 39.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.842266 ms (missed cycles : 5).[0m ×2 + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715470 ms (missed cycles : 2). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715470 ms (missed cycles : 2).[0m ×2 + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404783 ms (missed cycles : 2). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404783 ms (missed cycles : 2).[0m ×2 + 41.51sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746137 ms (missed cycles : 2). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746137 ms (missed cycles : 2).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604894 ms (missed cycles : 4). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604894 ms (missed cycles : 4).[0m ×2 + 43.97sWARNros2_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 + 44.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.569004 ms (missed cycles : 7). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.569004 ms (missed cycles : 7).[0m ×2 + 44.76sINFOros2_control_node[2026-08-13 02:40:49.166] [info] Received new action goal ×2 + 44.76sINFOros2_control_node[2026-08-13 02:40:49.166] [info] Accepted new action goal ×2 + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668874 ms (missed cycles : 6). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668874 ms (missed cycles : 6).[0m ×2 + 45.91sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786588850.32219005 seconds ×3 + 46.71sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786588851.11508727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200793 ms (missed cycles : 2). + 46.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200793 ms (missed cycles : 2).[0m ×2 + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605019 ms (missed cycles : 6). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605019 ms (missed cycles : 6).[0m ×2 + 47.87sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 47.88sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.90sINFOros2_control_node[2026-08-13 02:40:52.310] [info] Received new action goal ×2 + 47.90sINFOros2_control_node[2026-08-13 02:40:52.310] [info] Accepted new action goal ×2 + 48.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385500 ms (missed cycles : 6). + 48.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385500 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 35.5s | 137 warnings · 2699 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×414 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×414 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×828 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×828 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323709 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323709 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320177 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320177 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691342 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691342 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862983 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862983 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786588949.56877065 seconds ×3 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312193 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312193 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786588950.20899653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.77sINFOobjective_server_nodeFound path in 5 iterations (0.00585771 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.86sINFOros2_control_node[2026-08-13 02:42:30.466] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-13 02:42:30.466] [info] Accepted new action goal ×2 + 5.06sWARNros2_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 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323149 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323149 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464761 ms (missed cycles : 6). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464761 ms (missed cycles : 6).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180281 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180281 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595296 ms (missed cycles : 4). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595296 ms (missed cycles : 4).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312867 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312867 ms (missed cycles : 2).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967488 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967488 ms (missed cycles : 2).[0m ×2 + 10.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707834 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707834 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364419 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364419 ms (missed cycles : 4).[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210533 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210533 ms (missed cycles : 2).[0m ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264893 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264893 ms (missed cycles : 2).[0m ×2 + 15.95sWARNros2_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 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319034 ms (missed cycles : 5). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319034 ms (missed cycles : 5).[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156867 ms (missed cycles : 5). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156867 ms (missed cycles : 5).[0m ×2 + 17.79sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843344 ms (missed cycles : 3). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843344 ms (missed cycles : 3).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.578668 ms (missed cycles : 7). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.578668 ms (missed cycles : 7).[0m ×2 + 20.31sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563157 ms (missed cycles : 2). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563157 ms (missed cycles : 2).[0m ×2 + 21.09sWARNros2_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 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338950 ms (missed cycles : 2). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338950 ms (missed cycles : 2).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797622 ms (missed cycles : 3). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797622 ms (missed cycles : 3).[0m ×2 + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458044 ms (missed cycles : 5). + 23.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458044 ms (missed cycles : 5).[0m ×2 + 24.75sINFOobjective_server_nodeFound path in 4 iterations (0.0032761 s). ×2 + 24.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 24.86sINFOobjective_server_nodeFound path in 12 iterations (0.0050613 s). ×2 + 24.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 24.96sINFOobjective_server_nodeFound path in 2 iterations (0.00384079 s). ×2 + 25.01sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 25.03sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 25.07sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 25.08sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 25.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 25.14sINFOobjective_server_nodeFound path in 12 iterations (0.00560934 s). ×2 + 25.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 25.24sINFOobjective_server_nodeFound path in 1 iterations (0.00686311 s). ×2 + 25.29sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 25.31sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431181 ms (missed cycles : 2). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431181 ms (missed cycles : 2).[0m ×2 + 25.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 25.39sINFOobjective_server_nodeFound path in 4 iterations (0.00694686 s). ×2 + 25.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 25.51sINFOobjective_server_nodeFound path in 4 iterations (0.00357519 s). ×2 + 25.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 25.65sINFOobjective_server_nodeFound path in 1 iterations (0.00584093 s). ×2 + 25.73sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 25.77sINFOobjective_server_nodeFound path in 26 iterations (0.0118504 s). ×2 + 25.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_____________________X] ×2 + 25.88sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 25.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 25.95sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 26.01sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X] ×2 + 26.04sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 26.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 26.16sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 26.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939483 ms (missed cycles : 3). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939483 ms (missed cycles : 3).[0m ×2 + 26.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 26.48sINFOros2_control_node[2026-08-13 02:42:52.088] [info] Received new action goal ×2 + 26.48sINFOros2_control_node[2026-08-13 02:42:52.088] [info] Accepted new action goal ×2 + 27.00sWARNros2_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 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217417 ms (missed cycles : 2). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217417 ms (missed cycles : 2).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.813497 ms (missed cycles : 9). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.813497 ms (missed cycles : 9).[0m ×2 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006394 ms (missed cycles : 5). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006394 ms (missed cycles : 5).[0m ×2 + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797498 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797498 ms (missed cycles : 2).[0m ×2 + 31.47sINFOros2_control_node[2026-08-13 02:42:57.082] [info] Received new action goal ×2 + 31.47sINFOros2_control_node[2026-08-13 02:42:57.082] [info] Accepted new action goal ×2 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522801 ms (missed cycles : 4). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.522801 ms (missed cycles : 4).[0m ×2 + 32.85sWARNros2_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 + 33.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 33.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 33.01sINFOros2_control_node[2026-08-13 02:42:58.622] [info] Received new action goal ×2 + 33.01sINFOros2_control_node[2026-08-13 02:42:58.622] [info] Accepted new action goal ×2 + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431618 ms (missed cycles : 4). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431618 ms (missed cycles : 4).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861302 ms (missed cycles : 3). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861302 ms (missed cycles : 3).[0m ×2 + 34.23sWARNobjective_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 + 34.23sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 34.27sINFOros2_control_node[2026-08-13 02:42:59.875] [info] Received new action goal ×2 + 34.27sINFOros2_control_node[2026-08-13 02:42:59.875] [info] Accepted new action goal ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724695 ms (missed cycles : 2). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724695 ms (missed cycles : 2).[0m ×2 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700959 ms (missed cycles : 2). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700959 ms (missed cycles : 2).[0m ×2 + 37.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801366 ms (missed cycles : 2). + 37.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801366 ms (missed cycles : 2).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393402 ms (missed cycles : 4). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393402 ms (missed cycles : 4).[0m ×2 + 38.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 39.45sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786588985.05920315 seconds ×3 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463428 ms (missed cycles : 3). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463428 ms (missed cycles : 3).[0m ×2 + 39.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 39.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 39.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 39.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 39.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 39.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 40.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786588985.74934053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 40.36sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 40.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 40.36sINFOros2_control_node[2026-08-13 02:43:05.973] [info] Received new action goal ×2 + 40.36sINFOros2_control_node[2026-08-13 02:43:05.973] [info] Accepted new action goal ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966696 ms (missed cycles : 2). + 40.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966696 ms (missed cycles : 2).[0m ×2 + 41.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671728 ms (missed cycles : 2). + 41.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671728 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 25.1s | 103 warnings · 13646 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2248 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2248 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4496 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4496 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837868 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837868 ms (missed cycles : 2).[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125219 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125219 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734567 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734567 ms (missed cycles : 2).[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850121 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850121 ms (missed cycles : 2).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786588924.43330240 seconds ×3 + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196318 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196318 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786588925.07821059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_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 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-13 02:42:05.243] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-13 02:42:05.243] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678033 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678033 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964900 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964900 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116025 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116025 ms (missed cycles : 4).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823869 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823869 ms (missed cycles : 2).[0m ×2 + 9.07sINFOobjective_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 + 9.09sINFOobjective_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 ×3 + 9.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 9.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 9.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 9.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 9.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 9.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 9.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 9.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077804 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077804 ms (missed cycles : 2).[0m ×2 + 10.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 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 2.624134 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624134 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794345 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794345 ms (missed cycles : 2).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390033 ms (missed cycles : 3). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390033 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124275 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124275 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882216 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882216 ms (missed cycles : 2).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729956 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729956 ms (missed cycles : 2).[0m ×2 + 16.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672950 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672950 ms (missed cycles : 2).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498202 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498202 ms (missed cycles : 2).[0m ×2 + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668381 ms (missed cycles : 3). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668381 ms (missed cycles : 3).[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986731 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986731 ms (missed cycles : 2).[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246763 ms (missed cycles : 2). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246763 ms (missed cycles : 2).[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790604 ms (missed cycles : 2). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790604 ms (missed cycles : 2).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212949 ms (missed cycles : 6). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212949 ms (missed cycles : 6).[0m ×2 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812508 ms (missed cycles : 2). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812508 ms (missed cycles : 2).[0m ×2 + 24.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323709 ms (missed cycles : 2). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323709 ms (missed cycles : 2).[0m ×2 + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320177 ms (missed cycles : 2). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320177 ms (missed cycles : 2).[0m ×2 + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691342 ms (missed cycles : 2). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691342 ms (missed cycles : 2).[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862983 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862983 ms (missed cycles : 2).[0m ×2 + 29.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786588949.56877065 seconds ×3 + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312193 ms (missed cycles : 2). + 29.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312193 ms (missed cycles : 2).[0m ×2 + 29.73sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786588950.20899653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 29.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 29.91sINFOobjective_server_nodeFound path in 5 iterations (0.00585771 s). ×2 + 29.97sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 29.99sINFOros2_control_node[2026-08-13 02:42:30.466] [info] Received new action goal ×2 + 29.99sINFOros2_control_node[2026-08-13 02:42:30.466] [info] Accepted new action goal ×2 + 30.20sWARNros2_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 + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323149 ms (missed cycles : 2). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323149 ms (missed cycles : 2).[0m ×2 + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464761 ms (missed cycles : 6). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464761 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.2s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 2.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786588733.61520028 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.284852 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.284852 ms (missed cycles : 5).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.967096 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.967096 ms (missed cycles : 5).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521534 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521534 ms (missed cycles : 4).[0m ×2 + 9.24sWARNros2_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 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408028 ms (missed cycles : 5). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408028 ms (missed cycles : 5).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655527 ms (missed cycles : 4). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655527 ms (missed cycles : 4).[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101426 ms (missed cycles : 5). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101426 ms (missed cycles : 5).[0m ×2 + 12.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.93sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.22sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074838 ms (missed cycles : 6). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074838 ms (missed cycles : 6).[0m ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.32sINFOobjective_server_nodeFound path in 1 iterations (0.00308116 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.49sINFOros2_control_node[2026-08-13 02:39:04.866] [info] Received new action goal ×2 + 13.49sINFOros2_control_node[2026-08-13 02:39:04.866] [info] Accepted new action goal ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805002 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805002 ms (missed cycles : 2).[0m ×2 + 15.28sWARNros2_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 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307873 ms (missed cycles : 4). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307873 ms (missed cycles : 4).[0m ×2 + 15.97sINFOros2_control_node[2026-08-13 02:39:07.339] [info] Received new action goal ×2 + 15.97sINFOros2_control_node[2026-08-13 02:39:07.339] [info] Accepted new action goal ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6).[0m ×2 + 17.83sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.85sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Received new action goal ×2 + 17.85sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Accepted new action goal ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4).[0m ×2 + 19.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786588750.61734176 seconds ×3 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5).[0m ×2 + 19.87sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786588751.23986650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786588751.32000518 seconds ×3 + 20.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786588751.94353032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.69sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 20.69sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.71sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Received new action goal ×2 + 20.71sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Accepted new action goal ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4). + 20.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4).[0m ×2 + 21.30sWARNros2_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 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.3s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824701 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824701 ms (missed cycles : 5).[0m ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 0.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00319009 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.57sINFOros2_control_node[2026-08-13 02:39:41.598] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-08-13 02:39:41.598] [info] Accepted new action goal ×2 + 1.00sINFOros2_control_node[2026-08-13 02:39:42.030] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-08-13 02:39:42.030] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117442 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117442 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053782 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053782 ms (missed cycles : 2).[0m ×2 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682650 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682650 ms (missed cycles : 2).[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 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1786588784.22634959 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786588785.02704787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211238 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211238 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.17sINFOros2_control_node[2026-08-13 02:39:45.201] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-13 02:39:45.201] [info] Accepted new action goal ×2 + 4.89sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561335 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561335 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711357 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711357 ms (missed cycles : 4).[0m ×2 + 6.96sINFOros2_control_node[2026-08-13 02:39:47.990] [info] Received new action goal ×2 + 6.96sINFOros2_control_node[2026-08-13 02:39:47.990] [info] Accepted new action goal ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172655 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172655 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938575 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938575 ms (missed cycles : 2).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162279 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162279 ms (missed cycles : 3).[0m ×2 + 9.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073422 ms (missed cycles : 6). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.073422 ms (missed cycles : 6).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850038 ms (missed cycles : 5). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850038 ms (missed cycles : 5).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904544 ms (missed cycles : 3). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904544 ms (missed cycles : 3).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486103 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486103 ms (missed cycles : 2).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518577 ms (missed cycles : 7). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518577 ms (missed cycles : 7).[0m ×2 + 15.40sWARNros2_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 + 15.52sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786588796.54863477 seconds ×3 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889366 ms (missed cycles : 5). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889366 ms (missed cycles : 5).[0m ×2 + 16.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786588797.22297263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786588797.28308058 seconds ×3 + 16.85sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786588797.88077569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.96sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 16.97sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2).[0m ×2 + 16.98sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Received new action goal ×2 + 16.98sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Accepted new action goal ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 63 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746137 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746137 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604894 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604894 ms (missed cycles : 4).[0m ×2 + 1.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.43sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.44sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.44sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.44sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.569004 ms (missed cycles : 7). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.569004 ms (missed cycles : 7).[0m ×2 + 2.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.33sINFOros2_control_node[2026-08-13 02:40:49.166] [info] Received new action goal ×2 + 2.33sINFOros2_control_node[2026-08-13 02:40:49.166] [info] Accepted new action goal ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668874 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.668874 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786588850.32219005 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.27sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786588851.11508727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200793 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200793 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605019 ms (missed cycles : 6). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.605019 ms (missed cycles : 6).[0m ×2 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.47sINFOros2_control_node[2026-08-13 02:40:52.310] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-08-13 02:40:52.310] [info] Accepted new action goal ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385500 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.385500 ms (missed cycles : 6).[0m ×2 + 6.60sWARNros2_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 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516084 ms (missed cycles : 5). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516084 ms (missed cycles : 5).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723276 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723276 ms (missed cycles : 3).[0m ×2 + 9.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 9.17sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 9.17sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 9.17sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 9.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 9.17sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889658 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889658 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322275 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322275 ms (missed cycles : 3).[0m ×2 + 11.57sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.59sINFOros2_control_node[2026-08-13 02:40:58.430] [info] Received new action goal ×2 + 11.59sINFOros2_control_node[2026-08-13 02:40:58.430] [info] Accepted new action goal ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.612890 ms (missed cycles : 8). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.612890 ms (missed cycles : 8).[0m ×2 + 12.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675028 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675028 ms (missed cycles : 2).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875329 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875329 ms (missed cycles : 2).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478564 ms (missed cycles : 3). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478564 ms (missed cycles : 3).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786588862.03527260 seconds ×3 + 15.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786588862.64221048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.95sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 15.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.96sINFOros2_control_node[2026-08-13 02:41:02.796] [info] Received new action goal ×2 + 15.96sINFOros2_control_node[2026-08-13 02:41:02.796] [info] Accepted new action goal ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791488 ms (missed cycles : 4). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791488 ms (missed cycles : 4).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400794 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400794 ms (missed cycles : 2).[0m ×2 + 17.22sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.23sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424802 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424802 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 62 warnings · 276 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 0.60sWARNros2_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 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.68sERRORobjective_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: 1786589028.60226846 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.87sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492530 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492530 ms (missed cycles : 3).[0m ×2 + 8.18sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 8.19sINFOros2_control_node[2026-08-13 02:43:54.112] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-08-13 02:43:54.112] [info] Accepted new action goal ×2 + 8.19sINFOros2_control_node[2026-08-13 02:43:54.112] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918840 ms (missed cycles : 3). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918840 ms (missed cycles : 3).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471722 ms (missed cycles : 3). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471722 ms (missed cycles : 3).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658046 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658046 ms (missed cycles : 3).[0m ×2 + 11.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211951 ms (missed cycles : 5). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211951 ms (missed cycles : 5).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4).[0m ×2 + 15.17sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Got request to cancel active goal. ×2 + 15.18sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Canceling active goal... ×2 + 15.18sERRORobjective_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: 1786589041.10297275 seconds ×3 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2).[0m ×2 + 15.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589041.69951224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2).[0m ×2 + 16.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589042.57966423 seconds ×3 + 17.25sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786589043.17448401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.25sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.25sINFOobjective_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 + 17.25sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.25sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786589043.17704916 seconds ×3 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3).[0m ×2 + 17.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786589043.88192892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786589043.88241267 seconds ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 60 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700959 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700959 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801366 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801366 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393402 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393402 ms (missed cycles : 4).[0m ×2 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786588985.05920315 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463428 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463428 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786588985.74934053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-13 02:43:05.973] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-13 02:43:05.973] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966696 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966696 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671728 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671728 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972345 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972345 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065320 ms (missed cycles : 5). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.065320 ms (missed cycles : 5).[0m ×2 + 8.06sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.06sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.06sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 1 iterations (0.00314359 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070251 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070251 ms (missed cycles : 2).[0m ×2 + 8.57sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.60sINFOros2_control_node[2026-08-13 02:43:10.457] [info] Received new action goal ×2 + 8.60sINFOros2_control_node[2026-08-13 02:43:10.457] [info] Accepted new action goal ×2 + 8.62sWARNros2_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 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365919 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365919 ms (missed cycles : 2).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 11.07sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 11.07sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 12.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.95sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 12.95sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 13.82sWARNros2_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 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 14.24sINFOobjective_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 + 14.24sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 14.24sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 14.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 14.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.10sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 17.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 + 7.07sWARNros2_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 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585257 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585257 ms (missed cycles : 3).[0m ×2 + 8.31sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 1 iterations (0.00272905 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857553 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857553 ms (missed cycles : 2).[0m ×2 + 8.87sINFOobjective_server_nodeFound path in 1 iterations (0.00790535 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.98sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 9.22sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.36sINFOros2_control_node[2026-08-13 02:39:27.718] [info] Received new action goal ×2 + 9.36sINFOros2_control_node[2026-08-13 02:39:27.718] [info] Accepted new action goal ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810348 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810348 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662828 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662828 ms (missed cycles : 2).[0m ×2 + 11.78sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829464 ms (missed cycles : 5). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829464 ms (missed cycles : 5).[0m ×2 + 12.06sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.06sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.06sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786588770.44307470 seconds ×3 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901650 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901650 ms (missed cycles : 2).[0m ×2 + 13.15sWARNros2_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 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803657 ms (missed cycles : 3). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803657 ms (missed cycles : 3).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797591 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797591 ms (missed cycles : 3).[0m ×2 + 15.47sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786588773.83277798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.66sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 15.68sINFOros2_control_node[2026-08-13 02:39:34.036] [info] Received new action goal ×2 + 15.68sINFOros2_control_node[2026-08-13 02:39:34.036] [info] Accepted new action goal ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093258 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093258 ms (missed cycles : 2).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984981 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984981 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 170 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829464 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829464 ms (missed cycles : 5).[0m ×2 + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786588770.44307470 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901650 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901650 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803657 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803657 ms (missed cycles : 3).[0m ×2 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797591 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797591 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786588773.83277798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.90sINFOros2_control_node[2026-08-13 02:39:34.036] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-08-13 02:39:34.036] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093258 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093258 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984981 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984981 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.253142 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.253142 ms (missed cycles : 5).[0m ×2 + 7.44sWARNros2_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 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.49sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184681 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184681 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (7.87e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 1 iterations (0.00278651 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 1 iterations (0.00487379 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.49sINFOros2_control_node[2026-08-13 02:39:38.630] [info] Received new action goal ×2 + 8.49sINFOros2_control_node[2026-08-13 02:39:38.630] [info] Accepted new action goal ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479623 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479623 ms (missed cycles : 4).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001265 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001265 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824701 ms (missed cycles : 5). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824701 ms (missed cycles : 5).[0m ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.20sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.27sINFOobjective_server_nodeFound path in 1 iterations (0.00319009 s). ×2 + 11.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.46sINFOros2_control_node[2026-08-13 02:39:41.598] [info] Received new action goal ×2 + 11.46sINFOros2_control_node[2026-08-13 02:39:41.598] [info] Accepted new action goal ×2 + 11.89sINFOros2_control_node[2026-08-13 02:39:42.030] [info] Received new action goal ×2 + 11.89sINFOros2_control_node[2026-08-13 02:39:42.030] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117442 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117442 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053782 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053782 ms (missed cycles : 2).[0m ×2 + 13.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682650 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682650 ms (missed cycles : 2).[0m ×2 + 14.05sINFOobjective_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 + 14.06sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.06sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.06sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.06sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.08sERRORobjective_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: 1786588784.22634959 seconds ×3 + 14.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786588785.02704787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211238 ms (missed cycles : 5). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211238 ms (missed cycles : 5).[0m ×2 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 15.06sINFOros2_control_node[2026-08-13 02:39:45.201] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-08-13 02:39:45.201] [info] Accepted new action goal ×2 + 15.77sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561335 ms (missed cycles : 3). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561335 ms (missed cycles : 3).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711357 ms (missed cycles : 4). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711357 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 60 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508313 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508313 ms (missed cycles : 3).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788492 ms (missed cycles : 3). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788492 ms (missed cycles : 3).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865236 ms (missed cycles : 5). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865236 ms (missed cycles : 5).[0m ×2 + 9.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874347 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874347 ms (missed cycles : 3).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870106 ms (missed cycles : 3). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870106 ms (missed cycles : 3).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583294 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583294 ms (missed cycles : 3).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749092 ms (missed cycles : 5). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749092 ms (missed cycles : 5).[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261474 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261474 ms (missed cycles : 2).[0m ×2 + 14.59sERRORobjective_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: 1786589007.10445666 seconds ×3 + 15.29sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786589007.79778242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779634 ms (missed cycles : 6). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779634 ms (missed cycles : 6).[0m ×2 + 15.57sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 15.58sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.60sINFOros2_control_node[2026-08-13 02:43:28.105] [info] Received new action goal ×2 + 15.60sINFOros2_control_node[2026-08-13 02:43:28.105] [info] Accepted new action goal ×2 + 15.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220546 ms (missed cycles : 6). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220546 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 57 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434410 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434410 ms (missed cycles : 4).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600778 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600778 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220102 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220102 ms (missed cycles : 5).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786589017.70903778 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767743 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767743 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786589018.32188368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.98sINFOros2_control_node[2026-08-13 02:43:38.486] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-08-13 02:43:38.486] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971580 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971580 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195300 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195300 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.07sWARNros2_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 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373061 ms (missed cycles : 6). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.373061 ms (missed cycles : 6).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037368 ms (missed cycles : 5). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037368 ms (missed cycles : 5).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017068 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017068 ms (missed cycles : 2).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223767 ms (missed cycles : 2). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223767 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3).[0m ×2 + 11.42sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 12.02sWARNros2_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 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 14.09sINFOobjective_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 + 14.10sERRORobjective_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: 1786589028.60226846 seconds ×3 + 14.77sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 15.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 16.18sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.28sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 16.28sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.29sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 16.29sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 58 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6).[0m ×2 + 1.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786588750.61734176 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786588751.23986650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786588751.32000518 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786588751.94353032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712641 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712641 ms (missed cycles : 3).[0m ×2 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.66sINFOros2_control_node[2026-08-13 02:39:15.437] [info] Received new action goal ×2 + 7.66sINFOros2_control_node[2026-08-13 02:39:15.437] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310179 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310179 ms (missed cycles : 4).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163077 ms (missed cycles : 6). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163077 ms (missed cycles : 6).[0m ×2 + 9.99sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 10.00sINFOros2_control_node[2026-08-13 02:39:17.785] [info] Received new action goal ×2 + 10.00sINFOros2_control_node[2026-08-13 02:39:17.785] [info] Accepted new action goal ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 11.58sWARNros2_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 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 12.35sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 12.35sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 12.35sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 14.31sINFOobjective_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 + 14.32sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 14.32sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 14.33sERRORobjective_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: 1786588762.11606073 seconds ×3 + 14.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.17sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 56 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 0.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 1.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.08sWARNros2_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 ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 4.26sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854111 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854111 ms (missed cycles : 3).[0m ×2 + 6.59sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.76sINFOros2_control_node[2026-08-13 02:38:46.094] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-08-13 02:38:46.094] [info] Accepted new action goal ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049605 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049605 ms (missed cycles : 2).[0m ×2 + 8.24sWARNros2_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 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592407 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592407 ms (missed cycles : 3).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.638695 ms (missed cycles : 6). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.638695 ms (missed cycles : 6).[0m ×2 + 10.53sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 10.55sINFOros2_control_node[2026-08-13 02:38:49.883] [info] Received new action goal ×2 + 10.55sINFOros2_control_node[2026-08-13 02:38:49.883] [info] Accepted new action goal ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360555 ms (missed cycles : 4). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360555 ms (missed cycles : 4).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 13.87sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 13.87sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.88sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 13.88sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 14.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 14.27sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 14.29sERRORobjective_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: 1786588733.61520028 seconds ×3 + 14.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 14.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 15.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.84sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 15.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.86sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 15.86sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 59 errors · 39 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4).[0m ×2 + 0.70sINFOobjective_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 + 0.70sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Got request to cancel active goal. ×2 + 0.70sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Canceling active goal... ×2 + 0.70sERRORobjective_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: 1786589041.10297275 seconds ×3 + 0.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589041.69951224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589042.57966423 seconds ×3 + 2.77sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786589043.17448401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.77sINFOobjective_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 + 2.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786589043.17704916 seconds ×3 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786589043.88192892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786589043.88241267 seconds ×3 + 4.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589044.48842907 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 6.259734 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259734 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589045.04856253 seconds ×3 + 4.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166442 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166442 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961150 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961150 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893504 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.893504 ms (missed cycles : 5).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454674 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454674 ms (missed cycles : 3).[0m ×2 + 9.18sWARNros2_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 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612708 ms (missed cycles : 6). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612708 ms (missed cycles : 6).[0m ×2 + 10.13sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.18sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORweb_video_auth_proxy-23process has died [pid 9057, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.18sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.21sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.22sERRORweb_bridge_auth_proxy-22process has died [pid 9056, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.22sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.24sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.25sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.26sINFOvideo_server-21process has finished cleanly [pid 9055] ×2 + 10.26sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.28sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.29sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.31sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.32sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.33sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.35sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.36sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.37sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.39sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.39sINFOcontroller_managerShutdown request received.... + 10.39sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.39sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.39sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.39sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.39sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.39sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.39sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.39sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.39sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.39sINFOcontroller_managerShutting down the controller manager. + 10.39sINFOvideo_server2026/08/13 02:44:10 INF shutting down gracefully ×2 + 10.39sINFOvideo_server2026/08/13 02:44:10 INF [WebRTC] closing ×2 + 10.39sINFOvideo_server2026/08/13 02:44:10 INF [RTSP] closing ×2 + 10.39sINFOvideo_server2026/08/13 02:44:10 INF waiting for running hooks ×2 + 10.39sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.39sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sERRORmove_group-9process has died [pid 8980, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_ey_2d1j0 --params-file /tmp/launch_params_tie1ajjn --params-file /tmp/launch_params_vpwjcysy --params-file /tmp/launch_params_p1s_5epm --params-file /tmp/launch_params_p0nnuof4 --params-file /tmp/launch_params_c0ni_xrb']. ×2 + 10.40sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.40sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.40sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.40sERRORmove_groupStack trace (most recent call last) in thread 9272: ×2 + 10.40sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.40sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f820f138b63, in __clone ×2 + 10.40sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f820f0abb83, in ×2 + 10.40sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f820f33ddb3, in ×2 + 10.40sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f820faae637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.40sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f820f6cf620, in rclcpp::Rate::sleep() ×2 + 10.40sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f820f611d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.40sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f820f5d3087, in ×2 + 10.40sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f820f30c390, in __cxa_throw ×2 + 10.40sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f820f2f6a54, in std::terminate() ×2 + 10.40sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f820f30c0d9, in ×2 + 10.40sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f820f2f6ff4, in ×2 + 10.40sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f820f0378fe, in abort ×2 + 10.40sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f820f05427d, in raise ×2 + 10.40sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f820f0adc0c, in pthread_kill ×2 + 10.40sERRORmove_groupAborted (Signal sent by tkill() 8980 0) ×2 + 10.40sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.40sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.40sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.40sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.40sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.40sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.41sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.41sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.41sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.41sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.41sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.41sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.60sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.60sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.60sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.27sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9054] ×2 + 11.27sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.36sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8984] ×2 + 11.38sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8983] ×2 + 11.38sINFOui_teleop_bridge-18process has finished cleanly [pid 8989] ×2 + 11.38sINFOexecute_objective_bridge-17process has finished cleanly [pid 8988] ×2 + 11.38sINFOcomponent_container_mt-16process has finished cleanly [pid 8987] ×2 + 11.42sINFOparameter_manager_node-10process has finished cleanly [pid 8981] ×2 + 11.42sINFOwaypoint_manager_node-11process has finished cleanly [pid 8982] ×2 + 11.44sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 11.51sINFOobjective_server_node[0;m[2026-08-13 02:44:11.905] [moveit_pro_license] [critical] ×2 + 11.51sINFOobjective_server_node************************************************* ×4 + 11.51sINFOobjective_server_node* MoveIt Pro License ×2 + 11.51sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.98sINFOobjective_server_node_main-14process has finished cleanly [pid 8985] ×2 + 11.98sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.50sINFOcomponent_container_mt-15process has finished cleanly [pid 8986] ×2 + 12.65sINFOweb_bridge-19process has finished cleanly [pid 8990] ×2 + 12.65sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.03sINFOros2_control_node-1process has finished cleanly [pid 8943] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870106 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870106 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583294 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583294 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749092 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749092 ms (missed cycles : 5).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261474 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261474 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786589007.10445666 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.19sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786589007.79778242 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 8.779634 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779634 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.49sINFOros2_control_node[2026-08-13 02:43:28.105] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-13 02:43:28.105] [info] Accepted new action goal ×2 + 4.76sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220546 ms (missed cycles : 6). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220546 ms (missed cycles : 6).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.381680 ms (missed cycles : 8). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.381680 ms (missed cycles : 8).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241405 ms (missed cycles : 5). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241405 ms (missed cycles : 5).[0m ×2 + 8.51sINFOros2_control_node[2026-08-13 02:43:32.123] [info] Received new action goal ×2 + 8.51sINFOros2_control_node[2026-08-13 02:43:32.123] [info] Accepted new action goal ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688757 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688757 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102175 ms (missed cycles : 5). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.102175 ms (missed cycles : 5).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434410 ms (missed cycles : 4). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434410 ms (missed cycles : 4).[0m ×2 + 10.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600778 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600778 ms (missed cycles : 3).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220102 ms (missed cycles : 5). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220102 ms (missed cycles : 5).[0m ×2 + 14.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786589017.70903778 seconds ×3 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767743 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767743 ms (missed cycles : 2).[0m ×2 + 14.71sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786589018.32188368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 14.87sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.87sINFOros2_control_node[2026-08-13 02:43:38.486] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-08-13 02:43:38.486] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971580 ms (missed cycles : 5). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971580 ms (missed cycles : 5).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195300 ms (missed cycles : 5). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195300 ms (missed cycles : 5).[0m ×2 + 16.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.3s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786588797.22297263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786588797.28308058 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 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786588797.88077569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Accepted new action goal ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786588800.01092076 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782497 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782497 ms (missed cycles : 2).[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034563 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034563 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786588801.62408662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755611 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755611 ms (missed cycles : 2).[0m ×2 + 5.29sWARNros2_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 + 6.01sINFOobjective_server_node[2026-08-13 02:40:03.229] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594684 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594684 ms (missed cycles : 2).[0m ×2 + 6.81sINFOobjective_server_node[0;93m2026-08-13 02:40:04.030221820 [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 + 6.81sINFOobjective_server_node[0;93m2026-08-13 02:40:04.030265864 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3).[0m ×2 + 7.85sINFOobjective_server_node[2026-08-13 02:40:05.070] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2).[0m ×2 + 8.39sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616624009 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.39sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616654822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.60sINFOobjective_server_node[2026-08-13 02:40:05.826] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.69sINFOobjective_server_node[0;93m2026-08-13 02:40:05.913482417 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.70sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919347368 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.70sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919391636 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.78sINFOobjective_server_node[2026-08-13 02:40:05.998] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.17sINFOobjective_server_node[0;93m2026-08-13 02:40:06.396068431 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.20sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420362263 [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 + 9.20sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420400459 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2).[0m ×2 + 10.47sWARNros2_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 + 11.06sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786588808.28740740 seconds ×3 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2).[0m ×2 + 11.75sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786588808.97197962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.83sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 11.84sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 12.13sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 12.13sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.19sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Received new action goal ×2 + 12.19sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Accepted new action goal ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904544 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904544 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486103 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486103 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518577 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518577 ms (missed cycles : 7).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786588796.54863477 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889366 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889366 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786588797.22297263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786588797.28308058 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786588797.88077569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2).[0m ×2 + 4.45sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786588800.01092076 seconds ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782497 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782497 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034563 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034563 ms (missed cycles : 2).[0m ×2 + 8.06sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786588801.62408662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755611 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755611 ms (missed cycles : 2).[0m ×2 + 8.96sWARNros2_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 + 9.67sINFOobjective_server_node[2026-08-13 02:40:03.229] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594684 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594684 ms (missed cycles : 2).[0m ×2 + 10.47sINFOobjective_server_node[0;93m2026-08-13 02:40:04.030221820 [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 + 10.47sINFOobjective_server_node[0;93m2026-08-13 02:40:04.030265864 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 29 warnings · 531 info |
+ 0.00sINFOobjective_server_node[2026-08-13 02:38:34.959] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.12sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.14sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.57sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.57sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.93sINFOcomponent_container_mt[2026-08-13 02:38:35.884] [moveit_pro_license] [info] ×2 + 0.93sINFOcomponent_container_mt************************************************* ×4 + 0.93sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.93sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.93sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.93sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.93sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.93sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.93sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.93sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.93sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.94sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.94sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.94sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.94sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.94sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.94sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.94sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.01sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.02sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.02sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.02sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.02sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268422 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268422 ms (missed cycles : 4).[0m ×2 + 1.04sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.04sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.34sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.40sINFOros2-3process has finished cleanly [pid 8945] ×2 + 1.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.42sINFOros2[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 + 1.43sINFOforce_torque_sensor_broadcasterconfigure successful + 1.43sINFOros2_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 + 1.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.74sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.74sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.74sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.74sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.78sINFOros2-2process has finished cleanly [pid 8944] ×2 + 1.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.84sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.84sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.84sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5).[0m ×2 + 2.16sWARNobjective_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 + 2.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.22sINFOros2-5process has finished cleanly [pid 8947] ×2 + 2.32sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 2.32sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 2.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.37sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.38sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 2.40sINFOros2_control_node[2026-08-13 02:38:37.355] [info] Controller state will be published at 20 Hz. ×2 + 2.40sINFOros2_control_node[2026-08-13 02:38:37.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.74sINFOros2-8process has finished cleanly [pid 8950] ×2 + 2.81sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 2.81sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 2.86sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.86sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.87sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.87sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.89sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.89sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 2.89sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.10sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 3.20sINFOros2-6process has finished cleanly [pid 8948] ×2 + 3.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 3.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 3.29sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.29sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.32sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 3.32sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.63sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.63sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.63sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 3.63sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 3.67sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.68sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.68sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.68sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.68sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.69sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.69sINFOros2-7process has finished cleanly [pid 8949] ×2 + 3.69sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.69sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.01sINFOros2-4process has finished cleanly [pid 8946] ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 5.17sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 6.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 7.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 3 errors · 31 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658046 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211951 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211951 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Got request to cancel active goal. ×2 + 3.89sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Canceling active goal... ×2 + 3.89sERRORobjective_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: 1786589041.10297275 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589041.69951224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589042.57966423 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786589043.17448401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.96sINFOobjective_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 + 5.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786589043.17704916 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786589043.88192892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786589043.88241267 seconds ×3 + 7.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589044.48842907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259734 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259734 ms (missed cycles : 4).[0m ×2 + 7.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589045.04856253 seconds ×3 + 7.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.03sINFOros2_control_node[2026-08-13 02:38:49.883] [info] Received new action goal ×2 + 0.03sINFOros2_control_node[2026-08-13 02:38:49.883] [info] Accepted new action goal ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360555 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360555 ms (missed cycles : 4).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.36sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 3.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588733.61520028 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 4.58sWARNros2_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 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.33sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904544 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904544 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486103 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486103 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518577 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518577 ms (missed cycles : 7).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786588796.54863477 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889366 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889366 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786588797.22297263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786588797.28308058 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786588797.88077569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2).[0m ×2 + 4.45sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786588800.01092076 seconds ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782497 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782497 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4).[0m ×2 + 1.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Got request to cancel active goal. ×2 + 1.75sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Canceling active goal... ×2 + 1.75sERRORobjective_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: 1786589041.10297275 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589041.69951224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589042.57966423 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786589043.17448401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.82sINFOobjective_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 + 3.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786589043.17704916 seconds ×3 + 4.08sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786589043.88192892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786589043.88241267 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589044.48842907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259734 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259734 ms (missed cycles : 4).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589045.04856253 seconds ×3 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166442 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166442 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-13 02:39:07.339] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-13 02:39:07.339] [info] Accepted new action goal ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6).[0m ×2 + 1.87sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.88sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Received new action goal ×2 + 1.88sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Accepted new action goal ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786588750.61734176 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786588751.23986650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786588751.32000518 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786588751.94353032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.74sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4).[0m ×2 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3).[0m ×2 + 0.53sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 1.13sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_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 + 3.21sERRORobjective_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: 1786589028.60226846 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 458 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.06sINFOros2-3process has finished cleanly [pid 8945] ×2 + 0.08sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.09sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.44sINFOros2-2process has finished cleanly [pid 8944] ×2 + 0.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5).[0m ×2 + 0.82sWARNobjective_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 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 8947] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.05sINFOros2_control_node[2026-08-13 02:38:37.355] [info] Controller state will be published at 20 Hz. ×2 + 1.06sINFOros2_control_node[2026-08-13 02:38:37.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.39sINFOros2-8process has finished cleanly [pid 8950] ×2 + 1.47sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.47sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.52sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.52sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.52sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.52sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 1.86sINFOros2-6process has finished cleanly [pid 8948] ×2 + 1.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.97sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 1.97sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 2.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.34sINFOros2-7process has finished cleanly [pid 8949] ×2 + 2.35sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.67sINFOros2-4process has finished cleanly [pid 8946] ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 1.95 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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 5.10sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 7.14sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.15sINFOobjective_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 + 7.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 7.28sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 28 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3).[0m ×2 + 0.53sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 1.13sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_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 + 3.21sERRORobjective_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: 1786589028.60226846 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2).[0m ×2 + 7.22sWARNros2_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 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4).[0m ×2 + 1.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Got request to cancel active goal. ×2 + 1.75sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Canceling active goal... ×2 + 1.75sERRORobjective_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: 1786589041.10297275 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589041.69951224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589042.57966423 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786589043.17448401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.82sINFOobjective_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 + 3.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786589043.17704916 seconds ×3 + 4.08sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786589043.88192892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786589043.88241267 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786589044.48842907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259734 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.259734 ms (missed cycles : 4).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786589045.04856253 seconds ×3 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166442 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166442 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_node[2026-08-13 02:40:05.070] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616624009 [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 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616654822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-13 02:40:05.826] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.50sINFOobjective_server_node[0;93m2026-08-13 02:40:05.913482417 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919347368 [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 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919391636 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.59sINFOobjective_server_node[2026-08-13 02:40:05.998] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-08-13 02:40:06.396068431 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420362263 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420400459 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_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 + 3.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786588808.28740740 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786588808.97197962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.64sINFOobjective_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 + 4.65sINFOobjective_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 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.03sINFOros2_control_node[2026-08-13 02:38:49.883] [info] Received new action goal ×2 + 0.03sINFOros2_control_node[2026-08-13 02:38:49.883] [info] Accepted new action goal ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360555 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360555 ms (missed cycles : 4).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.36sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 3.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588733.61520028 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 4.58sWARNros2_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 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.33sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 2.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786588733.61520028 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 2.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786588733.61520028 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 2.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786588733.61520028 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904544 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904544 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486103 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486103 ms (missed cycles : 2).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518577 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518577 ms (missed cycles : 7).[0m ×2 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786588796.54863477 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889366 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889366 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786588797.22297263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786588797.28308058 seconds ×3 + 4.32sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786588797.88077569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2).[0m ×2 + 4.45sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_node[2026-08-13 02:40:05.070] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616624009 [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 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616654822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-13 02:40:05.826] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.50sINFOobjective_server_node[0;93m2026-08-13 02:40:05.913482417 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919347368 [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 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919391636 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.59sINFOobjective_server_node[2026-08-13 02:40:05.998] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-08-13 02:40:06.396068431 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420362263 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420400459 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_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 + 3.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786588808.28740740 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786588808.97197962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.64sINFOobjective_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 + 4.65sINFOobjective_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 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_node[2026-08-13 02:40:05.070] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616624009 [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 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616654822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-13 02:40:05.826] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.50sINFOobjective_server_node[0;93m2026-08-13 02:40:05.913482417 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919347368 [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 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919391636 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.59sINFOobjective_server_node[2026-08-13 02:40:05.998] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-08-13 02:40:06.396068431 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420362263 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420400459 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_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 + 3.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786588808.28740740 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786588808.97197962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.64sINFOobjective_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 + 4.65sINFOobjective_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 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_node[2026-08-13 02:40:05.070] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616624009 [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 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616654822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-13 02:40:05.826] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.50sINFOobjective_server_node[0;93m2026-08-13 02:40:05.913482417 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919347368 [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 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919391636 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.59sINFOobjective_server_node[2026-08-13 02:40:05.998] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-08-13 02:40:06.396068431 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420362263 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420400459 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_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 + 3.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786588808.28740740 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786588808.97197962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.64sINFOobjective_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 + 4.65sINFOobjective_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 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 73 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! ×3 + 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 ×6 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-13 02:40:58.430] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-13 02:40:58.430] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.612890 ms (missed cycles : 8). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.612890 ms (missed cycles : 8).[0m ×2 + 1.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675028 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675028 ms (missed cycles : 2).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875329 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875329 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478564 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478564 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786588862.03527260 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786588862.64221048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.49sINFOros2_control_node[2026-08-13 02:41:02.796] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-13 02:41:02.796] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791488 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791488 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400794 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400794 ms (missed cycles : 2).[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 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424802 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424802 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2553 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×414 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×414 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×828 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×828 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323709 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323709 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320177 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320177 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691342 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691342 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862983 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862983 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786588949.56877065 seconds ×3 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312193 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312193 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786588950.20899653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.77sINFOobjective_server_nodeFound path in 5 iterations (0.00585771 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.86sINFOros2_control_node[2026-08-13 02:42:30.466] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-13 02:42:30.466] [info] Accepted new action goal ×2 + 5.06sWARNros2_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 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323149 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323149 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464761 ms (missed cycles : 6). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464761 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2553 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×414 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×414 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×828 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×828 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323709 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323709 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320177 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320177 ms (missed cycles : 2).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691342 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691342 ms (missed cycles : 2).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862983 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862983 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786588949.56877065 seconds ×3 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312193 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312193 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786588950.20899653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.67sINFOobjective_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 + 4.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.77sINFOobjective_server_nodeFound path in 5 iterations (0.00585771 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.86sINFOros2_control_node[2026-08-13 02:42:30.466] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-13 02:42:30.466] [info] Accepted new action goal ×2 + 5.06sWARNros2_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 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323149 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323149 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464761 ms (missed cycles : 6). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464761 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3).[0m ×2 + 0.53sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 1.13sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_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 + 3.21sERRORobjective_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: 1786589028.60226846 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3).[0m ×2 + 0.53sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 1.13sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_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 + 3.21sERRORobjective_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: 1786589028.60226846 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3).[0m ×2 + 0.53sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 1.13sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_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 + 3.21sERRORobjective_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: 1786589028.60226846 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.03sINFOros2_control_node[2026-08-13 02:38:49.883] [info] Received new action goal ×2 + 0.03sINFOros2_control_node[2026-08-13 02:38:49.883] [info] Accepted new action goal ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360555 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360555 ms (missed cycles : 4).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.36sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 3.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588733.61520028 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 4.58sWARNros2_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 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.33sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 5.33sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373717 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174791 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-08-13 02:38:53.213] [info] Accepted new action goal ×2 + 2.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-08-13 02:38:53.599] [info] Canceling active goal... ×2 + 2.24sERRORobjective_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: 1786588733.61520028 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413812 ms (missed cycles : 2).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786588734.25388598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786588734.37401438 seconds ×3 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372492 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786588734.98207593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 3.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-08-13 02:38:55.186] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079590 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321192 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6).[0m ×2 + 1.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786588750.61734176 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786588751.23986650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786588751.32000518 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786588751.94353032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6).[0m ×2 + 1.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786588750.61734176 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786588751.23986650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786588751.32000518 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786588751.94353032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6).[0m ×2 + 1.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786588750.61734176 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786588751.23986650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786588751.32000518 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786588751.94353032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433958 ms (missed cycles : 3).[0m ×2 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456359 ms (missed cycles : 6).[0m ×2 + 1.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-08-13 02:39:09.221] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058851 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786588750.61734176 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.379398 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786588751.23986650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786588751.32000518 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786588751.94353032 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-13 02:39:12.078] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317787 ms (missed cycles : 4).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433678 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269605 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499085 ms (missed cycles : 2).[0m ×2 + 1.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344442 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.77sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 1.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-13 02:39:20.135] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969186 ms (missed cycles : 3).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188146 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Got request to cancel active goal. ×2 + 3.74sINFOros2_control_node[2026-08-13 02:39:22.103] [info] Canceling active goal... ×2 + 3.75sERRORobjective_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: 1786588762.11606073 seconds ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.40sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786588762.76102161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859636 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-13 02:39:22.955] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015340 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877035 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824701 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824701 ms (missed cycles : 5).[0m ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (4.98e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 0.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00319009 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.57sINFOros2_control_node[2026-08-13 02:39:41.598] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-08-13 02:39:41.598] [info] Accepted new action goal ×2 + 1.00sINFOros2_control_node[2026-08-13 02:39:42.030] [info] Received new action goal ×2 + 1.00sINFOros2_control_node[2026-08-13 02:39:42.030] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117442 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117442 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053782 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053782 ms (missed cycles : 2).[0m ×2 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682650 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682650 ms (missed cycles : 2).[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 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1786588784.22634959 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786588785.02704787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211238 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211238 ms (missed cycles : 5).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 4.17sINFOros2_control_node[2026-08-13 02:39:45.201] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-13 02:39:45.201] [info] Accepted new action goal ×2 + 4.89sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561335 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561335 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711357 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711357 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786588797.22297263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786588797.28308058 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 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786588797.88077569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739306 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-13 02:39:58.009] [info] Accepted new action goal ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545480 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786588800.01092076 seconds ×3 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782497 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782497 ms (missed cycles : 2).[0m ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034563 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034563 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786588801.62408662 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755611 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755611 ms (missed cycles : 2).[0m ×2 + 5.29sWARNros2_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 + 6.01sINFOobjective_server_node[2026-08-13 02:40:03.229] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594684 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594684 ms (missed cycles : 2).[0m ×2 + 6.81sINFOobjective_server_node[0;93m2026-08-13 02:40:04.030221820 [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 + 6.81sINFOobjective_server_node[0;93m2026-08-13 02:40:04.030265864 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777958 ms (missed cycles : 3).[0m ×2 + 0.66sINFOobjective_server_node[2026-08-13 02:40:05.070] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663260 ms (missed cycles : 2).[0m ×2 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616624009 [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 + 1.21sINFOobjective_server_node[0;93m2026-08-13 02:40:05.616654822 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.42sINFOobjective_server_node[2026-08-13 02:40:05.826] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.50sINFOobjective_server_node[0;93m2026-08-13 02:40:05.913482417 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919347368 [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 + 1.51sINFOobjective_server_node[0;93m2026-08-13 02:40:05.919391636 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.59sINFOobjective_server_node[2026-08-13 02:40:05.998] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.99sINFOobjective_server_node[0;93m2026-08-13 02:40:06.396068431 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420362263 [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 + 2.01sINFOobjective_server_node[0;93m2026-08-13 02:40:06.420400459 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140608 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380170 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_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 + 3.88sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786588808.28740740 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305997 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786588808.97197962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.64sINFOobjective_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 + 4.65sINFOobjective_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 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.95sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:40:09.410] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283337 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434349 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700959 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700959 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801366 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801366 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393402 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393402 ms (missed cycles : 4).[0m ×2 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786588985.05920315 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463428 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463428 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786588985.74934053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-13 02:43:05.973] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-13 02:43:05.973] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966696 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966696 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671728 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671728 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700959 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700959 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801366 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801366 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393402 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393402 ms (missed cycles : 4).[0m ×2 + 2.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786588985.05920315 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463428 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463428 ms (missed cycles : 3).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786588985.74934053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-13 02:43:05.973] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-13 02:43:05.973] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966696 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966696 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671728 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671728 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510061 ms (missed cycles : 3).[0m ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-08-13 02:43:12.929] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615417 ms (missed cycles : 3).[0m ×2 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445067 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Received new action goal ×2 + 2.29sINFOros2_control_node[2026-08-13 02:43:14.803] [info] Accepted new action goal ×2 + 3.17sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205495 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-13 02:43:16.099] [info] Canceling active goal... ×2 + 3.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786588996.10459018 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786588996.77389646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-13 02:43:16.958] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637605 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203345 ms (missed cycles : 4).[0m ×2 + 6.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870106 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870106 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583294 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583294 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749092 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749092 ms (missed cycles : 5).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261474 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261474 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786589007.10445666 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786589007.79778242 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 8.779634 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.779634 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.49sINFOros2_control_node[2026-08-13 02:43:28.105] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-13 02:43:28.105] [info] Accepted new action goal ×2 + 4.76sWARNros2_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 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220546 ms (missed cycles : 6). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220546 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434410 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434410 ms (missed cycles : 4).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600778 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600778 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220102 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.220102 ms (missed cycles : 5).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786589017.70903778 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767743 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767743 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786589018.32188368 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.98sINFOros2_control_node[2026-08-13 02:43:38.486] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-08-13 02:43:38.486] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971580 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971580 ms (missed cycles : 5).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195300 ms (missed cycles : 5). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195300 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.677430 ms (missed cycles : 3).[0m ×2 + 0.53sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 1.13sWARNros2_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 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_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 + 3.21sERRORobjective_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: 1786589028.60226846 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 136 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 0.60sWARNros2_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 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_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 + 2.68sERRORobjective_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: 1786589028.60226846 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.87sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 136 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 0.60sWARNros2_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 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_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 + 2.68sERRORobjective_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: 1786589028.60226846 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.87sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 136 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.102580 ms (missed cycles : 5).[0m ×2 + 0.60sWARNros2_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 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855453 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367006 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_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 + 2.68sERRORobjective_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: 1786589028.60226846 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786589029.27547240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786589029.34558868 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260447 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786589029.94062114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786589029.96310687 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429384 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786589030.67747164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.87sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-13 02:43:50.791] [info] Accepted new action goal ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771139 ms (missed cycles : 2).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406113 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658046 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211951 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211951 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Got request to cancel active goal. ×2 + 3.89sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Canceling active goal... ×2 + 3.89sERRORobjective_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: 1786589041.10297275 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589041.69951224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589042.57966423 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786589043.17448401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.96sINFOobjective_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 + 5.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786589043.17704916 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786589043.88192892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786589043.88241267 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658046 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658046 ms (missed cycles : 3).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211951 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211951 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254779 ms (missed cycles : 2).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732703 ms (missed cycles : 4).[0m ×2 + 3.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Got request to cancel active goal. ×2 + 3.89sINFOros2_control_node[2026-08-13 02:44:01.097] [info] Canceling active goal... ×2 + 3.89sERRORobjective_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: 1786589041.10297275 seconds ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902997 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786589041.69951224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954138 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786589042.57966423 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786589043.17448401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.96sINFOobjective_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 + 5.96sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.96sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786589043.17704916 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711578 ms (missed cycles : 3).[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786589043.88192892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786589043.88241267 seconds ×3 | ||||
▾
/__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 | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.7s | 35 warnings · 585 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-13-02-38-29-433672-cb3dba23a07f-8895 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.86sINFOcontroller_managerupdate rate is 600 Hz + 1.86sINFOcontroller_managerOverruns handling is : enabled + 1.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.86sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574285 ms (missed cycles : 2). + 2.09sINFOros2_control_node-1process started with pid [8943] ×2 + 2.09sINFOmove_group-9process started with pid [8980] ×2 + 2.09sINFOparameter_manager_node-10process started with pid [8981] ×2 + 2.09sINFOwaypoint_manager_node-11process started with pid [8982] ×2 + 2.09sINFOmove_joint_resampler_node-12process started with pid [8983] ×2 + 2.09sINFOmove_end_effector_resampler_node-13process started with pid [8984] ×2 + 2.09sINFOobjective_server_node_main-14process started with pid [8985] ×2 + 2.09sINFOcomponent_container_mt-15process started with pid [8986] ×2 + 2.09sINFOcomponent_container_mt-16process started with pid [8987] ×2 + 2.09sINFOexecute_objective_bridge-17process started with pid [8988] ×2 + 2.09sINFOui_teleop_bridge-18process started with pid [8989] ×2 + 2.09sINFOweb_bridge-19process started with pid [8990] ×2 + 2.09sINFOtf2_web_republisher_node-20process started with pid [9054] ×2 + 2.09sINFOvideo_server-21process started with pid [9055] ×2 + 2.09sINFOweb_bridge_auth_proxy-22process started with pid [9056] ×2 + 2.09sINFOweb_video_auth_proxy-23process started with pid [9057] ×2 + 2.12sINFOros2-2process started with pid [8944] ×2 + 2.12sINFOros2-3process started with pid [8945] ×2 + 2.12sINFOros2-4process started with pid [8946] ×2 + 2.12sINFOros2-5process started with pid [8947] ×2 + 2.12sINFOros2-6process started with pid [8948] ×2 + 2.12sINFOros2-7process started with pid [8949] ×2 + 2.12sINFOros2-8process started with pid [8950] ×2 + 2.16sINFOcontroller_managerReceived robot description from topic. + 2.16sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.18sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.18sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.18sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.18sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.18sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.18sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.18sWARNros2_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 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574285 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.18sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.18sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.27sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.43sINFOvideo_server2026/08/13 02:38:32 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.44sINFOvideo_server2026/08/13 02:38:32 INF configuration loaded from /tmp/moveit-webrtc-0arbn30v/mediamtx.yml ×2 + 2.45sINFOvideo_server2026/08/13 02:38:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.45sINFOvideo_server2026/08/13 02:38:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.85sINFOmove_group[2026-08-13 02:38:33.041] [moveit_pro_license] [info] ×2 + 2.85sINFOmove_group************************************************* ×4 + 2.85sINFOmove_group* MoveIt Pro License ×2 + 2.85sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686059 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686059 ms (missed cycles : 3).[0m ×2 + 3.28sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.35sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.35sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.35sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.35sINFOwaypoint_manager_node[2026-08-13 02:38:33.550] [moveit_pro_license] [info] ×2 + 3.35sINFOwaypoint_manager_node************************************************* ×4 + 3.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.36sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.36sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.55sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.55sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.55sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.55sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.56sINFOmove_group ×4 + 3.56sINFOmove_group[92mYou can start planning now![0m ×2 + 3.76sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.76sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.76sINFOobjective_server_node[2026-08-13 02:38:34.959] [moveit_pro_license] [info] ×2 + 4.76sINFOobjective_server_node************************************************* ×4 + 4.76sINFOobjective_server_node* MoveIt Pro License ×2 + 4.76sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.89sINFOobjective_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 + 4.89sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.90sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.90sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.33sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.33sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.69sINFOcomponent_container_mt[2026-08-13 02:38:35.884] [moveit_pro_license] [info] ×2 + 5.69sINFOcomponent_container_mt************************************************* ×4 + 5.69sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.69sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.70sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.70sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.70sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.70sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.70sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.70sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.70sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.70sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.70sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.70sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.70sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.70sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.70sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.70sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.77sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.77sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.77sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.77sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.77sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 5.77sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 5.78sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.78sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.78sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.78sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.78sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.79sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268422 ms (missed cycles : 4). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268422 ms (missed cycles : 4).[0m ×2 + 5.80sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.80sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 6.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 6.16sINFOros2-3process has finished cleanly [pid 8945] ×2 + 6.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.18sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.18sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.19sINFOforce_torque_sensor_broadcasterconfigure successful + 6.19sINFOros2_control_nodeconfigure successful[0m ×2 + 6.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.19sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 6.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 6.54sINFOros2-2process has finished cleanly [pid 8944] ×2 + 6.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.59sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.59sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.59sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.59sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.60sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.60sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5).[0m ×2 + 6.92sWARNobjective_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 + 6.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.94sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.94sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.99sINFOros2-5process has finished cleanly [pid 8947] ×2 + 7.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 7.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 7.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 7.16sINFOros2_control_node[2026-08-13 02:38:37.355] [info] Controller state will be published at 20 Hz. ×2 + 7.16sINFOros2_control_node[2026-08-13 02:38:37.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.47sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.47sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.47sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.50sINFOros2-8process has finished cleanly [pid 8950] ×2 + 7.58sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 7.58sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 7.63sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.63sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.63sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.63sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.65sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.65sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 7.66sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.86sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.93sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.93sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.93sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.93sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 7.96sINFOros2-6process has finished cleanly [pid 8948] ×2 + 7.99sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 7.99sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 8.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.08sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 8.08sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.39sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.39sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.39sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.39sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.39sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 8.39sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 8.44sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.44sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.44sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.44sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.44sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.44sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.45sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.45sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.45sINFOros2-7process has finished cleanly [pid 8949] ×2 + 8.45sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.45sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.78sINFOros2-4process has finished cleanly [pid 8946] ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 9.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 9.93sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 10.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 11.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 11.21sWARNros2_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 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 333 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 8950] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.18sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 0.19sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 0.49sINFOros2-6process has finished cleanly [pid 8948] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 0.61sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.98sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOros2-4process has finished cleanly [pid 8946] ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 2.46sWARNros2_control_nodeCamera render tick took 1.95 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 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 3.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_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 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.92sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 24 warnings · 386 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5).[0m ×2 + 0.05sWARNobjective_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 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2-5process has finished cleanly [pid 8947] ×2 + 0.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.25sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.26sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.26sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.29sINFOros2_control_node[2026-08-13 02:38:37.355] [info] Controller state will be published at 20 Hz. ×2 + 0.29sINFOros2_control_node[2026-08-13 02:38:37.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.60sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.62sINFOros2-8process has finished cleanly [pid 8950] ×2 + 0.70sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.70sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.75sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.75sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.75sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.75sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.78sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.78sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 0.78sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.99sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 1.09sINFOros2-6process has finished cleanly [pid 8948] ×2 + 1.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.20sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.51sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.51sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.51sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.52sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.56sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.56sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.57sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.57sINFOros2-7process has finished cleanly [pid 8949] ×2 + 1.58sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.58sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sINFOros2-4process has finished cleanly [pid 8946] ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 3.06sWARNros2_control_nodeCamera render tick took 1.95 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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 4.34sWARNros2_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 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 333 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 8950] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.16sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.18sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 0.19sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 0.49sINFOros2-6process has finished cleanly [pid 8948] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.58sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.58sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.61sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 0.61sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.98sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOros2-4process has finished cleanly [pid 8946] ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 2.46sWARNros2_control_nodeCamera render tick took 1.95 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 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 3.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_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 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.92sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 429 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.06sINFOros2-3process has finished cleanly [pid 8945] ×2 + 0.08sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.09sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.44sINFOros2-2process has finished cleanly [pid 8944] ×2 + 0.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5).[0m ×2 + 0.82sWARNobjective_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 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 8947] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.05sINFOros2_control_node[2026-08-13 02:38:37.355] [info] Controller state will be published at 20 Hz. ×2 + 1.06sINFOros2_control_node[2026-08-13 02:38:37.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.39sINFOros2-8process has finished cleanly [pid 8950] ×2 + 1.47sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.47sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.52sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.52sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.52sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.52sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 1.86sINFOros2-6process has finished cleanly [pid 8948] ×2 + 1.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.97sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 1.97sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 2.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.34sINFOros2-7process has finished cleanly [pid 8949] ×2 + 2.35sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.67sINFOros2-4process has finished cleanly [pid 8946] ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 1.95 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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 5.10sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 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/2026-08-13-02-38-29-433672-cb3dba23a07f-8895 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.86sINFOcontroller_managerupdate rate is 600 Hz + 1.86sINFOcontroller_managerOverruns handling is : enabled + 1.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.86sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574285 ms (missed cycles : 2). + 2.09sINFOros2_control_node-1process started with pid [8943] ×2 + 2.09sINFOmove_group-9process started with pid [8980] ×2 + 2.09sINFOparameter_manager_node-10process started with pid [8981] ×2 + 2.09sINFOwaypoint_manager_node-11process started with pid [8982] ×2 + 2.09sINFOmove_joint_resampler_node-12process started with pid [8983] ×2 + 2.09sINFOmove_end_effector_resampler_node-13process started with pid [8984] ×2 + 2.09sINFOobjective_server_node_main-14process started with pid [8985] ×2 + 2.09sINFOcomponent_container_mt-15process started with pid [8986] ×2 + 2.09sINFOcomponent_container_mt-16process started with pid [8987] ×2 + 2.09sINFOexecute_objective_bridge-17process started with pid [8988] ×2 + 2.09sINFOui_teleop_bridge-18process started with pid [8989] ×2 + 2.09sINFOweb_bridge-19process started with pid [8990] ×2 + 2.09sINFOtf2_web_republisher_node-20process started with pid [9054] ×2 + 2.09sINFOvideo_server-21process started with pid [9055] ×2 + 2.09sINFOweb_bridge_auth_proxy-22process started with pid [9056] ×2 + 2.09sINFOweb_video_auth_proxy-23process started with pid [9057] ×2 + 2.12sINFOros2-2process started with pid [8944] ×2 + 2.12sINFOros2-3process started with pid [8945] ×2 + 2.12sINFOros2-4process started with pid [8946] ×2 + 2.12sINFOros2-5process started with pid [8947] ×2 + 2.12sINFOros2-6process started with pid [8948] ×2 + 2.12sINFOros2-7process started with pid [8949] ×2 + 2.12sINFOros2-8process started with pid [8950] ×2 + 2.16sINFOcontroller_managerReceived robot description from topic. + 2.16sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.18sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.18sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.18sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.18sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.18sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.18sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.18sWARNros2_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 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574285 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.18sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.18sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.27sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.43sINFOvideo_server2026/08/13 02:38:32 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.44sINFOvideo_server2026/08/13 02:38:32 INF configuration loaded from /tmp/moveit-webrtc-0arbn30v/mediamtx.yml ×2 + 2.45sINFOvideo_server2026/08/13 02:38:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.45sINFOvideo_server2026/08/13 02:38:32 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 | 21 warnings · 429 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.06sINFOros2-3process has finished cleanly [pid 8945] ×2 + 0.08sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.09sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.44sINFOros2-2process has finished cleanly [pid 8944] ×2 + 0.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5).[0m ×2 + 0.82sWARNobjective_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 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 8947] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.05sINFOros2_control_node[2026-08-13 02:38:37.355] [info] Controller state will be published at 20 Hz. ×2 + 1.06sINFOros2_control_node[2026-08-13 02:38:37.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.39sINFOros2-8process has finished cleanly [pid 8950] ×2 + 1.47sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.47sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.52sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.52sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.52sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.52sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 1.86sINFOros2-6process has finished cleanly [pid 8948] ×2 + 1.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.97sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 1.97sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 2.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.34sINFOros2-7process has finished cleanly [pid 8949] ×2 + 2.35sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.67sINFOros2-4process has finished cleanly [pid 8946] ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 1.95 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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 5.10sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 24 warnings · 386 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5).[0m ×2 + 0.05sWARNobjective_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 + 0.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2-5process has finished cleanly [pid 8947] ×2 + 0.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.25sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.26sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.26sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.29sINFOros2_control_node[2026-08-13 02:38:37.355] [info] Controller state will be published at 20 Hz. ×2 + 0.29sINFOros2_control_node[2026-08-13 02:38:37.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.60sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.62sINFOros2-8process has finished cleanly [pid 8950] ×2 + 0.70sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.70sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.75sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.75sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.75sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.75sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.78sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.78sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 0.78sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.99sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 1.09sINFOros2-6process has finished cleanly [pid 8948] ×2 + 1.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.20sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 1.20sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.51sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.51sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.51sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.51sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.52sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.52sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.56sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.56sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.57sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.57sINFOros2-7process has finished cleanly [pid 8949] ×2 + 1.58sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.58sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.90sINFOros2-4process has finished cleanly [pid 8946] ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 3.06sWARNros2_control_nodeCamera render tick took 1.95 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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 4.34sWARNros2_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 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 6.51sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 429 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.06sINFOros2-3process has finished cleanly [pid 8945] ×2 + 0.08sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.09sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.44sINFOros2-2process has finished cleanly [pid 8944] ×2 + 0.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.48sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159682 ms (missed cycles : 5).[0m ×2 + 0.82sWARNobjective_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 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 8947] ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.02sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.02sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.05sINFOros2_control_node[2026-08-13 02:38:37.355] [info] Controller state will be published at 20 Hz. ×2 + 1.06sINFOros2_control_node[2026-08-13 02:38:37.356] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.39sINFOros2-8process has finished cleanly [pid 8950] ×2 + 1.47sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.47sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.52sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.52sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.52sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.52sINFOros2_control_node[2026-08-13 02:38:37.825] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.848] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.848] [info] Controller state will be published at 50 Hz. ×2 + 1.55sINFOros2_control_node[2026-08-13 02:38:37.853] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786588718.12041378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786588718.13065577 seconds ×3 + 1.86sINFOros2-6process has finished cleanly [pid 8948] ×2 + 1.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 1.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 1.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.97sINFOros2_control_node[2026-08-13 02:38:38.275] [info] Controller state will be published at 10 Hz. ×2 + 1.97sINFOros2_control_node[2026-08-13 02:38:38.276] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.28sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.28sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 2.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 2.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.34sINFOros2-7process has finished cleanly [pid 8949] ×2 + 2.35sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.35sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.67sINFOros2-4process has finished cleanly [pid 8946] ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 3.83sWARNros2_control_nodeCamera render tick took 1.95 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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 5.10sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 256 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854111 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854111 ms (missed cycles : 3).[0m ×2 + 7.33sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mnowz6sv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_o9s2b1er --params-file /tmp/launch_params_44qfheh2 [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOros2-7process has finished cleanly [pid 8949] ×2 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786588718.81064415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-4process has finished cleanly [pid 8946] ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060235 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786588719.87080669 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.54sWARNros2_control_nodeCamera render tick took 1.95 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 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141311 ms (missed cycles : 4).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786588720.49545360 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786588720.55563068 seconds ×3 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786588721.22607851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786588721.24622416 seconds ×3 + 2.82sWARNros2_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 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793317 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786588721.95326090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786588722.10383368 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837005 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786588722.77961850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786588722.82974482 seconds ×3 + 4.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786588723.43921542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.5581e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354198 ms (missed cycles : 2).[0m ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-13 02:38:43.586] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.317934 ms (missed cycles : 5).[0m ×2 | ||||